Nonlinear multi-agent fault-tolerant controller design method and storage medium

Abstract

The invention relates to a nonlinear multi-agent fault-tolerant controller design method and a storage medium. The design method comprises the following steps: constructing a kinetic equation of a nonlinear multi-agent system; designing a self-adaptive observer and a filtered tracking error function, converting the filtered tracking error function based on a signal obtained by the self-adaptive observer, and obtaining the converted filtered tracking error function to design a self-adaptive fault-tolerant controller. The solution existence of a multi-agent closed-loop system under any initial condition is realized, and asymptotic ground and asymptotic ground are satisfied. Compared with the prior art, the adaptive fault-tolerant controller is designed by applying the adaptive observer, the problem of asymptotic tracking of a follower and a leader of a nonlinear multi-agent system affected by partial failure faults of the actuator and external interference is solved, gain offline calculation of the observer is avoided, and the influence of the external interference is inhibited.

Description

technical field [0001] The invention relates to the field of fault-tolerant control, in particular to a method for designing a fault-tolerant controller based on an adaptive observer and a nonlinear multi-agent and a storage medium. Background technique [0002] In the actual control system, due to the complicated work of the actuator, the control system failure is most likely to occur. Partial actuator failure is one of the common actuator failures. In the past ten years, different controllers have appeared for the partial failure of the actuator, among which the adaptive fault-tolerant controller is more common and effective. Different types of fault-tolerant controllers are designed according to the changing conditions of faults and control objectives. [0003] As in "Robust fault-tolerant cooperative control of multi-agent systems: A constructive design method" (Chen Gang, et al. Journal of the Franklin Institute 52.10 (2015): 4045-4066) distributed distributed design ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a non-linear multi-agent fault-tolerant controller design method and storage medium in order to overcome the defects of the above-mentioned prior art, and solve the problem of non-linear multi-agents affected by partial failure of actuators and external interference. The Asymptotic Tracking Problem of Followers and Leaders in Body Systems

Images