具有混合执行器故障的多智能体分布式有限时间自适应协同容错控制

doi:10.12305/j.issn.1001-506X.2022.04.19

Abstract

Abstract:

Aiming at the uncertain parameters and transient instability of the system caused by the actuator fault for the multi-agent formation system, this paper adopts the radial basis function neural networks (RBFNNs) to approximate the uncertain parameters (the unknown nonlinear function). A reasonable adaptive fault-tolerant controller is designed based on the back-stepping technology, and the transient stability of the system is guaranteed by the finite time theory. Firstly, this paper adopts ten agents as the controlled objects, and constructs a nonlinear multi-agent system model based on the theory of directed communication topology. Secondly, based on the approximation characteristics of the RBFNNs, a reasonable fault-tolerant controller is designed by combining the back-stepping technology and the dynamic surface technology to compensate the unknown nonlinear actuator faults in the multi-agent, and the finite-time theory is used to solve the system transient state instability problem. Then, the stability and fast convergence of the controller are analyzed based on the Lyapunov stability theory. Finally, through the comparison of two calculation examples, it is verified that the performance of the designed controller is better than the traditional back-stepping technology, which provides an effective research idea for engineering practice.

Key words: multi-agent system, integrated actuator fault, cooperative fault-tolerant control, radial basis function neural networks (RBFNNs), dynamic surface technology

CLC Number:

TP237.2

Pu ZHANG, Huifeng XUE, Shan GAO, Xuan ZUO. Distributed finite-time adaptive cooperative fault-tolerant control for multi-agent systems with integrated actuators faults[J]. Systems Engineering and Electronics, 2022, 44(4): 1220-1229.

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References 23

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类型	数值
部分失效故障	0＜ρ₁＜ρ₂＜1, ζ₁=0
完全失效故障	ρ_i=1, ζ_i=0
偏置故障	0＜ρ₁＜ρ₂＜1, ζ₁=1
卡死故障	ρ_i=1, ζ_i=1

智能体编号	x_i/m	y_i/m	v_i/(m/s)	w_i/(rad/s)
智能体#1	4	-5	1	0
智能体#2	2	-4	3	0
智能体#3	4	1	1	0
智能体#4	3	1.5	0.5	0
智能体#5	3.5	2	3	0
智能体#6	1	2	2	0
智能体#7	3	8	1	0
智能体#8	2	9	3	0
智能体#9	1	10	2	0
智能体#10	2.5	11	2	0

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Distributed finite-time adaptive cooperative fault-tolerant control for multi-agent systems with integrated actuators faults

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