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Sliding mode fault tolerant control method for partial failure of multi-agent system actuator

A multi-agent system, fault-tolerant control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as non-consideration of system nonlinearity and simple fault model

Active Publication Date: 2018-07-27
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

But the failure model is too simple and only suitable for systems with a single actuator
Chen Gang from Chongqing University proposed a fault-tolerant distribution control strategy based on fault detection for second-order multi-agent systems with partial actuator failures, but did not consider the inherent nonlinearity of the system

Method used

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  • Sliding mode fault tolerant control method for partial failure of multi-agent system actuator
  • Sliding mode fault tolerant control method for partial failure of multi-agent system actuator
  • Sliding mode fault tolerant control method for partial failure of multi-agent system actuator

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Embodiment Construction

[0050] The present invention will be further explained below in conjunction with the accompanying drawings.

[0051] Such as figure 1 As shown, a sliding mode fault-tolerant control method for the partial failure of the actuator in the multi-agent system, when there is a partial failure of the actuator in the multi-agent system, combined with self-adaptive technology, a sliding mode fault-tolerant control method is proposed, including The specific steps are as follows:

[0052] Step 1) Determine the model and parameters of the pilot-following multi-agent system, including the following steps:

[0053] Step 1.1) Determine the motion model of the leader, as shown in formula (1):

[0054]

[0055] in, and Respectively represent the position and speed state of the leader at time t; Control input for navigator; is a continuous vector-valued function representing the inherently nonlinear dynamic behavior of the navigator;

[0056] Step 1.2) Determine the motion model o...

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Abstract

The invention discloses a fault tolerant control method for a multi-agent system based on adaptive sliding mode control. The failure of the actuator in the second-order nonlinear multi-agent system isconsidered, combined with adaptive control and sliding mode control, a fault-tolerant control method is proposed. The consistency error variable is defined according to the relative state informationbetween the agents, and the sliding mode surface is designed based on the consistency error variable, and the sufficient conditions for the asymptotic stability are given. The method based on adaptive boundary estimation estimates the upper bound of the fault, which ultimately constitutes a complete sliding mode fault-tolerant controller. The method simplifies the complexity of the problem by designing a sliding surface based on the consistency error variable; combined with the advantages of adaptive control and sliding mode control, the designed fault-tolerant control law has good fault tolerance. The method is used for fault tolerant control of a multi-agent system with actuator partial failure.

Description

technical field [0001] The invention relates to a fault-tolerant control method of a multi-agent system based on sliding mode control, belonging to the field of multi-agent system control. Background technique [0002] Many agents with signal acquisition, computing and communication capabilities realize information interaction and cooperation through the network to complete predetermined tasks, which constitutes a multi-agent system. Among them, the individual of the multi-agent system is a control object with certain autonomous behaviors, such as ground mobile robots, unmanned aerial vehicles, remote intelligent sensors, etc. In a multi-agent system, all agents cooperate with each other to complete a complex task. The cooperative control of multi-agent system is to realize a common goal by using local information exchange between agents by designing distributed control strategy. With the development of control computing and network technology, the application of multi-age...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 杨蒲马犇许梦洋
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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