Active formation fault-tolerant control method based on fast adaptive technology

Abstract

The invention discloses an active formation fault-tolerant control method based on a fast adaptive technology. The active formation fault-tolerant control method comprises the steps that a laplacian matrix and a leader-following connection matrix of distributed multi-agent systems are achieved by constructing a connection diagram of multi-agent systems; according to a four-rotor aircraft model ofan existing nonlinear term, a corresponding observer and a fast adaptive fault estimator are constructed to predict the actual size of faults;alocal augmented system error dynamic equation and a wholeaugmented system error dynamic equation are constructed; Lyapunov function is constructed, the method that parameters in a computational controller and the fault estimator are calculated is derived and achieved through corresponding theories, and the requirements of formation control are finished under the action of actuator failure of the system and external interference. According to the activeformation fault-tolerant control method, adverse influence of the external interference on fault-tolerant control is completely eliminated at the theoretical level, performance of fault estimation isimproved, and the fault-tolerant control when the actuator fault occurs at any node of four-rotor aircraft formation or when the actuator fault occurs at multiple nodes at the same time is achieved.

Description

technical field [0001] The invention belongs to the technical field of multi-agent systems, in particular to an active formation fault-tolerant control method based on fast adaptive technology. Background technique [0002] In recent years, with the increasing complexity of system interconnection and the deepening trend of task mode collaboration, relevant theoretical and applied research based on Multi-Agent Systems (MAS) technology has been gradually developed and improved, and closely related to it. Related fault diagnosis theory and method research is also attracting more and more attention. The advantages of the multi-agent system's unique network links, free distribution, and information sharing enable the relevant fault diagnosis system to integrate and interoperate in the direction of "a large number of bodies" in an unprecedented manner. At the same time, subsystems or a single agent The diversified exchange and sharing of diagnostic information at the network comm...

AI Technical Summary

Problems solved by technology

With the gradual deepening of the research on UAVs and the continuous expansion of the application field of UAVs, in the face of increasingly complex environments, the task execution efficiency of a single UAV cannot be further improved, and its fault tolerance is poor. Problems such as drones and volume limitations have gradually emerged. Therefore, it has become an inevitable trend for multi-UAVs to improve and complete tasks.

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