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A distributed optimal cooperative fault-tolerant control method based on adaptive dynamic programming

A technology of dynamic programming and fault-tolerant control, which is applied in the direction of adaptive control, general control system, control/regulation system, etc. It can solve problems such as impossible and difficult to obtain analytical solutions, and achieve online learning, solving problems, The effect of good practical significance and application prospect

Active Publication Date: 2021-06-15
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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  • A distributed optimal cooperative fault-tolerant control method based on adaptive dynamic programming
  • A distributed optimal cooperative fault-tolerant control method based on adaptive dynamic programming
  • A distributed optimal cooperative fault-tolerant control method based on adaptive dynamic programming

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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 programming. Firstly, through the communication link between the agents, the communication topology of the multi-agent system is constructed and the directed graph G=(V,E ,A) means; secondly, establish the local domain consistency error equation, and based on the optimal control theory and the minimum value principle, define the agent v i The input quantity of the fault-free cooperative control is u i , get the distributed optimal cooperative control law; then, implement the distributed optimal cooperative control law; finally, design the distributed optimal cooperative fault-tolerant control law of the agent based on the fault compensation. The invention can overcome the shortcomings of the existing nonlinear multi-agent system fault-tolerant control method, and has a good application prospect in the fault-tolerant control of the unmanned aerial vehicle 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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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 戴姣刘春生孙景亮
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS