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Finite time robust fault diagnosis design method for leader-follower multi-agent system

A multi-agent system, limited time technology, applied in the field of multi-agent systems, can solve problems such as unusable, poor transient performance, etc.

Active Publication Date: 2017-02-22
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This will cause, such as a system is asymptotically stable, but its transient performance is so poor that it cannot be used in engineering, and its infinitely long convergence time will also limit its rapid maneuvering control in actual engineering application in the case of

Method used

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  • Finite time robust fault diagnosis design method for leader-follower multi-agent system
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  • Finite time robust fault diagnosis design method for leader-follower multi-agent system

Examples

Experimental program
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Effect test

Embodiment 1

[0150] Suppose the first and fourth follower nodes fail at the same time:

[0151] Failure of the first follower node

[0152]

[0153] Failure of the 4th follower node

[0154]

[0155] That is, the first follower node has an actuator failure in 20s, and the fourth follower node has a failure in 50s. The experimental simulation results are shown in Figure 2. diagram 2-1 This is the failure of the four follower nodes 2 (agent 1, 2, 3, and 4) when the first and fourth follower nodes (agent 1 and agent 4) fail at the same time as measured in embodiment 1 of the present invention Schematic diagram of the fault estimation curve of the diagnostic observer; Figure 2-2 This is the fault detected by the fault diagnosis observer of the follower node 1 (agent 1) when the first and fourth follower nodes (agent 1 and agent 4) all have faults measured in the first embodiment of the present invention Schematic diagram of the comparison curve between the estimated value and the true value of ...

Embodiment 2

[0157] Suppose the second and third follower nodes fail at the same time:

[0158] Failure of the second follower node

[0159]

[0160] Failure of the third follower node

[0161]

[0162] That is, the second follower node has an actuator failure at 10s, and the third follower node has an actuator failure at the aggregate distance at 40s. The experimental simulation results are shown in Figure 3 and Figure 4.

[0163] Figure 3-1 This is the failure of the four follower nodes 2 (agent 1, 2, 3, and 4) when the second and third follower nodes (agent 2 and agent 3) fail at the same time as measured in embodiment 2 of the present invention Schematic diagram of the fault estimation curve of the diagnostic observer; Figure 3-2 This is the fault measured by the fault diagnosis observer of the follower node 2 (agent 2) when the second and third follower nodes (agent 2 and agent 3) are both faulty measured in the second embodiment of the present invention Schematic diagram of the compari...

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Abstract

The invention discloses a finite time robust fault diagnosis design method for a leader-follower multi-agent system. The method includes the steps: firstly, building a multi-agent system connection diagram with a leader and showing the multi-agent system connection diagram by a directed graph to obtain a Laplacian matrix L of a follower and an adjacent matrix G of the leader; building a state equation and an output equation of each node flight control system and augmenting a state vector and a fault vector into new vectors; constructing a distributed error equation and a global error equation based on the directed graph for each node according to the built directed graph, constructing a finite time fault diagnosis observer of a flight control system based on finite time robust control, and performing finite time fault diagnosis for faults of a multi-agent executor based on the directed graph. Faults of an optional node of the control system or simultaneously occurring faults of a plurality of nodes are effectively and accurately diagnosed and estimated on line in finite time.

Description

Technical field [0001] The invention belongs to the technical field of application to multi-agent systems, and specifically relates to a finite-time robust fault diagnosis design method for a leader-following multi-agent system. Background technique [0002] For the control system, in the process of analysis or design, the stability of a system is a priority. This depends on the unstable system, which is not applicable in practice. In general, the stability we often say in the control field, such as Lyapunov stability and BIBO (bounded-input-bounded-output) stability, are all asymptotically stable. The essence of asymptotic stability is to observe whether a system is infinitely close to the equilibrium point when the time t approaches infinity after being disturbed in the initial state. It should be noted that the above-mentioned stability theory in the traditional sense focuses on system behaviors that are discussed in an infinite time interval. The state of the system is not...

Claims

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Application Information

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IPC IPC(8): G05B23/02
CPCG05B23/0243G05B2219/24065
Inventor 陈星星张柯姜斌
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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