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Distributed optimal cooperative fault-tolerant control method based on self-adaptive dynamic planning

A dynamic programming, fault-tolerant control technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as difficult or impossible to obtain analytical solutions

Active Publication Date: 2018-11-16
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

The premise of designing a nonlinear optimal cooperative fault-tolerant control law is to solve the nonlinear Hamilton-Jacobi-Bellman (HJB) equation. However, since the HJB equation is essentially a nonlinear partial differential equation, it is difficult or even impossible to obtain its analytical solution.

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  • Distributed optimal cooperative fault-tolerant control method based on self-adaptive dynamic planning
  • Distributed optimal cooperative fault-tolerant control method based on self-adaptive dynamic planning
  • Distributed optimal cooperative fault-tolerant control method based on self-adaptive dynamic planning

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Embodiment Construction

[0047] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0048] figure 1 It is a flowchart of the present invention, mainly comprising the following steps:

[0049] Step 1: Use the relevant theoretical knowledge of graph theory to establish the communication topology of the multi-agent system

[0050] Consider a multi-agent system composed of a leader agent and N follower agents, and use a directed graph G=(V,E,A) to represent the communication topology in the system. Among them, V={v0 ,v 1 ,v 2 ,...v N} represents the set of all agents, v 0 represents the leader node, v i Represents the i-th following node, i=1,...N; E={(v i ,v j ):v i ,v j ∈V} represents the set of communication links between follower nodes, and the elements in E (v i ,v j ) represents node v j Able to get node v directly i Transferred information, i,j=1,...N; weighted adjacency matrix A square matrix with dimension N×N, if (v ...

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Abstract

The invention discloses a distributed optimal cooperative fault-tolerant control method based on self-adaptive dynamic planning. The distributed optimal cooperative fault-tolerant control method comprises the steps of: firstly, constructing a communication topology of a multi-agent system by means of communication links among agents, and representing the communication topology by a directed graphG=(V, E, A); secondly, establishing a local domain consistency error equation, and defining a failure-free cooperative control input quantity of the agent vi as ui based on an optimal control theory and a minimum value principle, so as to obtain a distributed optimal cooperative control law; thirdly, executing the distributed optimal cooperative control law; and finally, designing a distributed optimal cooperative fault-tolerant control law of the agents. The distributed optimal cooperative fault-tolerant control method can overcome the shortcomings of the existing nonlinear multi-agent systemfault-tolerant control method, and has a good application prospect in the fault-tolerant control of UAV formation.

Description

technical field [0001] The invention relates to the field of fault-tolerant control of multi-agent systems, in particular to a distributed optimal cooperative fault-tolerant control method based on adaptive dynamic programming. Background technique [0002] With the rapid development of science and technology, in recent years, due to its unique advantages, multi-agent systems have been greatly welcomed in various fields, such as biology, physics, control and computer fields. Multi-agent systems are prone to failures during actual operation, which can be mainly divided into two categories: communication failures and actuator failures. At present, many experts and scholars have carried out research on the fault-tolerant control of multi-agents, but most of the research results are aimed at communication failures in multi-agent systems, and rarely involve actuator failures of a single agent. However, in In most cases, the actuator failure of a single agent is often unavoidable...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 戴姣刘春生孙景亮
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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