Slip form fault-tolerant control method for multi-agent tracking system with executor and sensor faults

Abstract

The invention discloses an active fault-tolerant control method for a lienar multi-agent tracking system on the basis of slip form control. A distributed fault-tolerant control strategy is put forwardby a distributed observer and a slip form control method by considering the executor faults, the sensor faults, the inherent nonlinearity and the leader unknown control input of a general linear multi-agent tracking system. Firstly, a state tracking error system is established by aiming at each follower, and a sensor fault signal is taken as an auxiliary state amount to establish an augmented tracking error system. In order to simultaneously estimate various faults and the leader unknown control input, an intermediate variable is imported. On the basis of neighbor set output information, a distributed observer is designed for the augmented tracking error system and the intermediate variable, and a global estimation error system is proved to be finally uniformly bounded. According to the obtained observation information, a nonlinear slip form surface is designed for the tracking error system of each follower agent, system robustness is enhanced, and the stability of a sliding mode is proved. According to the fault observation information and the neighbor set output information, a distributed slip form controller is put forward, the state of the error system is guaranteed to reach and be kept at the slip form surface within limited time, and therefore, the fault-tolerant tracking stability of the multi-agent system is realized. The method is used for the fault-tolerant control of the linear multi-agent tracking system with executor faults and sensor faults.

Description

[0001] The invention relates to an active fault-tolerant control method of a linear multi-agent tracking system based on sliding mode, and belongs to the field of multi-agent system control. Background technique [0002] With the rapid development of modern society, engineering, and communication networks, multi-agent systems have been continuously developed and widely used in recent years. The research on multi-agent system control technology has also attracted the attention of many scholars in the field of control. Compared with the traditional single system, the multi-agent system has the advantages of wider task domain and higher efficiency, and can effectively complete complex tasks that cannot be completed by a single agent through mutual cooperation between agents. At present, multi-agent systems have been applied in many fields, such as formation flight, sensor network and so on. [0003] In the past few years, the consensus and formation problems of multi-agent system...

AI Technical Summary

Problems solved by technology

However, when a large-scale and complex multi-agent system runs for a long time, it is inevitable that the agents will fail in actuators or sensors, which will lead to the failure of the global task and cause serious economic losses or casualties.

Images