Distributed multi-agent real-time fault detection method based on local cooperation

A real-time fault, multi-agent technology, applied in electrical testing/monitoring, testing/monitoring control systems, instruments, etc., can solve the problem of low reliability of test results

Inactive Publication Date: 2018-10-19
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0005] In view of this, the present invention provides a distributed multi-agent real-time fault detection method based on local cooperation,

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  • Distributed multi-agent real-time fault detection method based on local cooperation
  • Distributed multi-agent real-time fault detection method based on local cooperation
  • Distributed multi-agent real-time fault detection method based on local cooperation

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Embodiment Construction

[0109] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0110] The present invention provides a distributed multi-agent real-time fault detection method based on local cooperation, the process of which is as follows figure 1 shown, including:

[0111] Step 1: For the multi-agent system, establish the multi-agent system topology model, node dynamics model and local cooperation network model;

[0112] In the embodiment of the present invention, this step is specifically:

[0113] S101. The topology model of the multi-agent system is described by an undirected graph, and the node dynamics model adopts the following linear system model with fault signals and external random interference signals:

[0114]

[0115] where x i (k) The true state value of node i at time k, x i (k) is n x A real vector of dimensions, that is, u i (k) The actual control input value of node i at time k, u i (k) is n u A real v...

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Abstract

The invention discloses a distributed multi-agent real-time fault detection method based on local cooperation, and relates to the technical field of multi-agent control. The method comprises the following steps: establishing a multi-agent system topology model, a node dynamic model and a local cooperation network model for a multi-agent system; building a residual generator framework based on local cooperation on the basis of the multi-agent system topology model, the node dynamic model and the local cooperation network model; further introducing a hybrid H2/H-infinity optimization index to the residual generator framework, and obtaining the optimal parameters of the residual generator framework by solving a hybrid optimization problem; performing the distributed construction of a residualgenerator under the optimal parameters to obtain a globally optimal residual signal; setting a threshold function for the globally optimal residual signal; determining that a target node has a faultif the amplitude of the globally optimal residual signal exceeds an amplitude limit value of a threshold function, or else determining that the target node does not have the fault.

Description

technical field [0001] The invention relates to the technical field of multi-agent control, in particular to a distributed multi-agent real-time fault detection method based on local cooperation. Background technique [0002] In recent years, multi-agent systems are constantly developing in the direction of large-scale, strong coupling, and high complexity. Problems to be solved. However, the multi-agent system itself is a complex distributed nonlinear autonomous system, and the system usually needs to face complex external environments, such as strong electromagnetic interference, targeted attack and trapping by the enemy, etc., which will affect the failure the normal operation of the algorithm. In addition, the normal operation of the algorithm also needs information interaction through communication, and there are phenomena such as communication time lag and packet loss, which further affect the reliability of the detection algorithm. Therefore, how to design a detect...

Claims

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Application Information

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IPC IPC(8): G05B23/02
CPCG05B23/0218
Inventor 方浩李俨陈杰
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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