Distributed flight control system fault diagnosis design method based on multi-agent technology

Abstract

The invention relates to a distributed flight control system fault diagnosis design method based on the multi-agent technology. The method is characterized by including the steps that firstly, a multi-agent system connected graph with a leader is established and represented through an undirected graph and a Laplacian matrix L is acquired; secondly, a state equation and an output equation of each node of a flight control system are established; thirdly, according to each node, a distributed error equation and a global error equation based on the undirected graph are established; fourthly, according to the established undirected graph, the collected state equations of the flight control system, the collected output equations of the flight control system, and the established global error equations, a distributed fault diagnosis observer gain matrix of the flight control system can be acquired. According to the method, a multi-target distributed fault diagnosis observer is designed, online diagnosis can be conducted when any node in the system breaks down or multiple nodes break down simultaneously, and online fault diagnosis and real-time fault estimation can be conducted on the flight control system.

Description

technical field [0001] The invention belongs to the technical field of multi-agent systems, in particular to a method for fault diagnosis and design of a distributed flight control system based on multi-agent technology. Background technique [0002] Multi-Agent Systems (MAS) refers to a system composed of a series of individuals with local perception capabilities, limited processing capabilities, and mutual communication capabilities. Individuals in the system can communicate with other individuals and use their respective capabilities to cooperate with each other to achieve a common goal. There are many systems in nature that can be regarded as multi-agent systems, such as aircraft formation flight, distributed computing, robot collaboration, etc. In recent years, the control problem of multi-agent systems has been paid more and more attention by researchers. The perception and execution capabilities of a single aircraft are limited. For example, in the face of some rela...

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Problems solved by technology

However, this method still has the following shortcomings: First, this method is designed for a single aircraft to design a fault diagnosis algorithm, which is not suitable for the situation where multiple follower systems fail simultaneously when multiple aircraft are flying cooperatively; The equation only uses the measurement output data of a single aircraft, and does not construct a global error equation based on the connection graph. It is not suitable for the diagnosis of the topological communication error information between multiple follower systems when they fly together; the third is that the method is Designed based on robust H∞ performance, without considering the transfer characteristics of the system to energy-bounded signals, so the application range is greatly limited

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