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Heterogeneous multi-agent system cooperative fault-tolerant control method based on RBF neural network

A multi-agent system and neural network technology, applied in the field of collaborative fault-tolerant control of heterogeneous multi-agent systems, can solve problems such as difficult to achieve cooperative fault-tolerant control, and achieve the effect of gradual stabilization of state errors

Active Publication Date: 2021-02-19
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Application Information

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Problems solved by technology

[0004] In order to solve the technical problems proposed by the above-mentioned background technology, the present invention aims to provide a heterogeneous multi-agent system cooperative fault-tolerant control method based on RBF neural network, to overcome the problem that it is difficult to realize cooperative fault-tolerant control due to different agents

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  • Heterogeneous multi-agent system cooperative fault-tolerant control method based on RBF neural network
  • Heterogeneous multi-agent system cooperative fault-tolerant control method based on RBF neural network
  • Heterogeneous multi-agent system cooperative fault-tolerant control method based on RBF neural network

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Embodiment Construction

[0074] The present invention takes the following 4 unmanned cars and 2 quadrotor UAVs as implementation objects, wherein x(t)=[x, y, z] T , x, y and z represent the displacement of the unmanned vehicle in the directions of x-axis, y-axis and z-axis respectively; v(t)=[v x , v v , v z ] T , v x , v y and v z Represent the speed of the x-axis, y-axis and z-axis direction of the unmanned vehicle respectively; u(t)=[u x , u y , u z ] T , u x , u y and u z represent the control input of the unmanned aerial vehicle in the directions of x-axis, y-axis and z-axis respectively. In view of the different motion dimensions of drones and unmanned vehicles, in order to facilitate coordinated control, the displacement, speed and control input of the unmanned vehicle in the z-axis direction are all 0 by default.

[0075] Consider the following dynamic equations for an unmanned vehicle:

[0076]

[0077] Among them, take n=3, x i (t)∈R n , v i (t)∈R n and ui (t)∈R n Repre...

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Abstract

The invention discloses a heterogeneous multi-agent system cooperative fault-tolerant control method based on an RBF neural network, and the method comprises the steps: firstly, supposing that all agents can obtain a preset movement track and speed, constructing a heterogeneous multi-agent system communication topology through the communication link among heterogeneous multi-agents, representing the topology through a directed graph, and calculating a Laplace matrix; then, specifically analyzing the kinetic equation of each intelligent agent, and forming a second-order dynamic equation with aunified form under the condition of considering multiplicative faults and additive faults of the actuators; designing a cooperative fault-tolerant controller of the heterogeneous multi-agent system based on an RBF neural network adaptive theory and a communication network link, obtaining a global dynamic equation of the heterogeneous multi-agent system based on a consistency theory, and achievingcooperative fault-tolerant control of the system. According to the method, the problem that cooperative fault-tolerant control is difficult to realize due to different internal agent structures of a heterogeneous multi-agent system is solved, so that the system has relatively high robustness and disturbance resistance.

Description

technical field [0001] The invention relates to a collaborative fault-tolerant control method for heterogeneous multi-agent systems based on RBF neural network, belonging to the technical field of heterogeneous multi-agent systems. Background technique [0002] In recent years, the unmanned combat system, as a subversive technical equipment that changes the future war mode, has developed rapidly around the world and has become an important force in the military game between countries. Facing the requirements of future combat applications, the heterogeneous unmanned swarm system composed of unmanned aerial vehicle and unmanned vehicle has important research value. [0003] Due to the heterogeneous characteristics of UAVs and unmanned vehicles, the difficulty of formation control increases sharply. There are huge differences between drones and unmanned vehicles. For example, they have different working spaces, different dynamic characteristics, and different speed limits. The...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/027G05B13/042
Inventor 张柯任意姜斌丁勇
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS