Fault Tolerant Control Method for Actuator Faults in Linear Multi-Agent Systems Based on Sliding Mode

Abstract

The invention discloses a tracking fault-tolerant control method for a linear multi-agent system based on sliding mode control. A fault-tolerant control method based on the sliding mode control methodand adaptive control is proposed for the actuator fault of the linear multi-agent tracking system with external disturbance. Aiming at the actuator partial failure fault that may occur in the agent,the state error variable is defined according to the communication topology between multi-agents, the integral sliding mode surface is designed based on the error variable and sufficient conditions for sliding mode asymptotic stability are given. Then the unknown upper bound of the actuator fault is estimated by the adaptive method, and a sliding mode fault-tolerant controller is proposed to guarantee the tracking stability of the multi-agent system. The integral sliding mode surface is designed according to the state error variable between the multi-agents and the robustness of the system isenhanced, and the fault-tolerant control law having good fault-tolerant ability when the system has partial actuator failure fault and external disturbance is put forward and the tracking stability ofthe multi-agent system is improved. The fault-tolerant control method is used for fault tolerant control of the linear multi-agent system with the actuator failure fault and the external disturbance.

Description

Technical field[0001]The invention relates to a fault-tolerant control method of a linear multi-agent system based on a sliding mode, and belongs to the field of multi-agent system control.Background technique[0002]With the rapid development of control theory, the control technology of a single agent gradually matures. In recent years, with the widespread application of computer networks and the continuous development of artificial intelligence technology, multi-agent systems containing multiple individuals have aroused great enthusiasm for research. This is largely due to the ability of multi-agent systems to pass through agents. Mutual coordination between them completes relatively complex tasks, saving costs and more effectively completing tasks that cannot be completed by a single system. In view of the fact that multi-agent systems have the advantages of a wider range of tasks and higher efficiency, they have been used in many fields, such as robots, UAV formation control, auto...

AI Technical Summary

Problems solved by technology

However, most of the existing solutions are fault-tolerant control based on adaptive control, and it is difficult to have good robustness to the unavoidable system parameter perturbation and external interference in actual engineering, so the present invention has certain innovation and practicability

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