Heterogeneous agent formation system controller under multi-fault condition and finite time fault-tolerant control method thereof

Abstract

The invention discloses a heterogeneous agent formation system controller under a multi-fault condition and a finite time fault-tolerant control method thereof. The controller comprises a leader state observer considering a communication link fault, a space motion model considering an actuator fault, a sliding mode controller with a finite time convergence sliding mode surface reaching law, and an individual actuator fault observer. The controller constructs leader state controllers for communication link faults and individual actuator faults respectively, and the decoupling design can enable the controller to solve the communication link faults and the individual actuator faults at the same time. The controller is provided with the sliding mode controller with the sliding mode surface reaching law with finite time convergence, so that the controller can keep stable formation operation within finite time under the condition that the controller breaks down.

Description

Technical Field

[0001] The present invention belongs to the technical field of fault-tolerant control, and in particular relates to a heterogeneous intelligent agent formation system controller under multiple fault conditions and a finite-time fault-tolerant control method thereof. Background Art

[0002] Formation control of multi-agent systems (MASs) has a wide range of application scenarios. Its main goal is to drive all agents with interactive capabilities to complete tasks while maintaining the formation. Heterogeneous multi-agent systems (HMASs) contain different types of individuals and can complete more complex and diverse formation tasks. Therefore, they have great development prospects and have received widespread attention. For example, drones can achieve rapid inspection of large areas and share indicators such as crop health or weed distribution with unmanned vehicles.

[0003] Therefore, heterogeneous multi-agent formations (HMASs) have important practical application value, and it is particularly important to maintain the formation of heterogeneous multi-agent formations under various fault conditions and to ensure that the system can be stable within a limited time when a fault occurs.

[0004] Existing controllers for heterogeneous multi-agent formation systems only consider single failure issues, such as only considering individual actuator failures without considering communication link failures, or only considering communication link failures without considering actuator failures, and existing leader state observers do not estimate the leader's altitude. Figure 1 The existing controller design shown in the figure includes a leader state observer, a backstepping controller and a spatial motion model. The position and velocity calculation and estimation in the controller are only two-dimensional data, so it is impossible to estimate the height of the leader when the height of the leader changes. In addition, the controller cannot handle simultaneous communication link failures and individual actuator failures.

[0005] Therefore, developing a controller for a heterogeneous intelligent agent formation system under multiple faults and its finite-time fault-tolerant control method to ensure that the heterogeneous multi-agent formation system maintains stable formation operation within a limited time in the event of a fault is a key issue that needs in-depth research and improvement. Summary of the invention

[0006] In order to solve the problems existing in the prior art, the present invention proposes a heterogeneous intelligent agent formation system controller under multiple fault conditions and a finite-time fault-tolerant control method thereof.

[0007] The technical solution of the present invention is as follows:

[0008] A controller for a heterogeneous agent formation system under multiple fault conditions, wherein the heterogeneous agents include a virtual leader agent and a plurality of heterogeneous follower agents, and the controller includes a leader state observer considering communication link failures, a spatial motion model considering actuator failures, a sliding mode controller with a sliding mode surface reaching law with finite time convergence, and an individual actuator fault observer;

[0009] The leader state observer is used to receive the three-dimensional position estimation value of the leader intelligent body by the neighboring follower intelligent body that has a communication connection with the follower intelligent body. and the 3D velocity estimate And output the follower agent's estimated 3D position of the leader agent and the 3D velocity estimate

[0010] The spatial motion model is used to receive the three-dimensional control quantity u of the follower agent output by the sliding mode controller i , output the three-dimensional position x of the follower agent i and the three-dimensional velocity v i ;

[0011] The sliding mode controller is used to receive the three-dimensional position estimation value of the leader agent by the follower agent The relative three-dimensional position instruction ρ in the formation with the set follower agent xi After addition, the three-dimensional position x of the follower agent i The difference between the follower agent and the leader agent's three-dimensional velocity estimate The relative three-dimensional speed command ρ in the formation with the set follower agent vi After addition, the three-dimensional velocity v of the follower agent i The difference between the individual actuator fault observer and the follower agent's compensation value for the fault And output the three-dimensional control volume u of the follower agent i ;

[0012] The individual actuator fault observer is used to receive the three-dimensional control quantity u of the follower agent output by the sliding mode controller. i and the three-dimensional velocity v of the follower agent output by the spatial motion model i , output the compensation value of the follower agent for the fault

[0013] Furthermore, the spatial motion model includes a motion model of a leader agent and a follower motion model taking actuator failures into account.

[0014] Furthermore, the movement model of the leader agent is:

[0015]

[0016] Where v0 is the three-dimensional velocity of the leader agent; is the differential of the three-dimensional velocity of the leader agent; is the differential of the three-dimensional position of the leader agent; u0 is the control input of the leader agent.

[0017] Furthermore, the follower motion model considering actuator failure in the spatial motion model is:

[0018]

[0019] f i (u i ,t)=Λ i (t)u i -d i (t)

[0020] [0,0,0]<Λ i (t)<[1,1,1]

[0021] In the formula, is the differential of the 3D position of the i-th follower agent; v i is the three-dimensional velocity of the i-th follower agent; N is the number of follower agents; is the differential of the three-dimensional velocity of the i-th follower agent; u i is the three-dimensional control quantity of the i-th follower agent; f(u i ,t) is the comprehensive interference considering the actuator bias fault and failure fault, f(u i ,t)=Λ i (t)u i -d i (t), Λ i (t) is the failure distribution matrix, d i (t) is the bias fault of the ith follower agent; g is gravity plus three-dimensional velocity, g = [0, 0, 9.8] T .

[0022] Furthermore, the expression of the communication link failure model in the leader state observer is:

[0023]

[0024] In the formula, a ij is the communication connection weight between the i-th follower agent and the j-th follower agent; is the weight of the communication connection between the ith follower agent and the jth follower agent where the communication failure occurs; b i is the communication connection weight between the i-th follower agent and the leader agent; is the weight of the communication connection where the communication failure occurs between the ith follower agent and the leader agent; is the communication connection noise between the ith follower agent and the jth follower agent at time t; is the communication connection noise between the i-th follower agent and the leader agent at time t.

[0025] Furthermore, the leader state observer adopts the following model to solve the communication link failure:

[0026]

[0027]

[0028] In the formula, is the differential of the 3D position estimate of the leader agent by the i-th follower agent; is the three-dimensional velocity estimate of the leader agent by the i-th follower agent; c 1i and c 2i is the adaptive parameter of the ith agent related to the 3D position error and 3D velocity error; is the neighborhood observation error of the i-th follower agent relative to the three-dimensional position; is the neighborhood observation error of the i-th follower agent with respect to the three-dimensional velocity; Estimate the upper bound of the leader agent's input for the ith follower agent.

[0029] Furthermore, the expression of the individual actuator fault observer is:

[0030]

[0031] In the formula, is the differential of the compensation value of the ith follower agent to the fault, that is, the differential of the estimated value of the ith follower agent to the fault; is the difference between the 3D velocity of the i-th follower agent and the 3D velocity estimate; is the differential of the three-dimensional velocity estimate of the i-th follower agent; k d1i and k d2i are the first and second gains of the i-th follower agent on the fault observer.

[0032] Furthermore, the expression of the sliding mode controller is:

[0033]

[0034] In the formula, e xi is the error between the 3D position of the i-th follower agent and the expected 3D position; e vi is the error between the 3D velocity of the ith follower agent and the expected 3D velocity; x i is the three-dimensional position of the i-th follower agent; is the estimate of the three-dimensional position of the leader agent by the i-th follower agent; ρ xi is the relative three-dimensional position instruction of the i-th follower agent in the formation; v i is the three-dimensional velocity of the i-th follower agent; is the estimate of the three-dimensional velocity of the leader agent by the i-th follower agent; s i is the sliding surface function of the ith agent; c is the parameter of the sliding surface function; k i is the first parameter of the convergence law of the i-th follower agent; β i is the second parameter of the convergence law of the ith follower agent; c i is the third parameter of the convergence law of the i-th follower agent.

[0035] A finite-time fault-tolerant control method for a heterogeneous agent formation system controller under multiple fault conditions, using any of the heterogeneous agent formation system controllers under multiple fault conditions as described above, comprises the following specific steps:

[0036] The leader state observer receives the three-dimensional position estimation value of the leader intelligent body from the neighboring follower intelligent body that has a communication connection with the follower intelligent body. and the 3D velocity estimate And output the follower agent's estimated 3D position of the leader agent and the 3D velocity estimate

[0037] The spatial motion model receives the three-dimensional control quantity u of the follower agent output by the sliding mode controller i , output the three-dimensional position x of the follower agent i and the three-dimensional velocity v i ;

[0038] The sliding mode controller receives the three-dimensional position estimate of the leader agent by the follower agent. The relative three-dimensional position instruction ρ in the formation with the set follower agent xi After addition, the three-dimensional position x of the follower agent i The difference between the follower agent and the leader agent's three-dimensional velocity estimate The relative three-dimensional speed command ρ in the formation with the set follower agent vi After addition, the three-dimensional velocity v of the follower agent i The difference between the individual actuator fault observer and the follower agent's compensation value for the fault And output the three-dimensional control volume u of the follower agent i ;

[0039] The individual actuator fault observer receives the three-dimensional control quantity u of the follower agent output by the sliding mode controller i and the three-dimensional velocity v of the follower agent output by the spatial motion model i , output the compensation value of the follower agent for the fault

[0040]

[0041] An electronic device comprises a memory and a processor, wherein the memory stores a computer program, and the processor is used to call and run the computer program stored in the memory to execute any of the methods described above.

[0042] A computer-readable storage medium stores a computer program, wherein the computer program implements the steps of any of the above methods when executed by a processor.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] The present invention proposes a heterogeneous intelligent agent formation system controller under multiple fault conditions and a finite-time fault-tolerant control method thereof. The controller constructs a leader state controller for communication link failures and individual actuator failures respectively. The decoupling design enables the controller to solve both communication link failures and individual actuator failures at the same time.

[0045] The controller of the present invention is provided with a sliding mode controller having a sliding mode surface approaching law with finite time convergence, so that the controller can maintain stable formation operation within a finite time in the event of a fault.

[0046] The controller of the present invention calculates and estimates the position, speed and control amount in the height direction, thereby being able to calculate and estimate the height when the height of the leader changes.

[0047] The leader state observer in the controller of the present invention adopts adaptive parameters of the follower agent related to the three-dimensional position error and the three-dimensional speed error. The observer adjusts the observation coefficient according to the neighborhood observation error, so that the error estimation efficiency becomes higher when there is a fault. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a block diagram of a controller of an existing heterogeneous intelligent agent formation system in the background technology;

[0049] Figure 2 It is a block diagram of a controller of a heterogeneous intelligent agent formation system under multiple fault conditions in an embodiment;

[0050] Figure 3 Flow chart of the finite-time fault-tolerant control method of the heterogeneous intelligent agent formation system controller under multiple fault conditions in the embodiment. DETAILED DESCRIPTION

[0051] The present invention is further explained below in conjunction with the accompanying drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. After reading the present invention, various equivalent modifications of the present invention by those skilled in the art all fall within the scope defined by the claims attached to this application.

[0052] Embodiment 1:

[0053] The present invention provides a heterogeneous agent formation system controller under multiple fault conditions, wherein the heterogeneous agents include a virtual leader agent and a plurality of heterogeneous follower agents, such as Figure 2 As shown, the controller includes a leader state observer considering communication link failure, a spatial motion model considering actuator failure, a sliding mode controller with a sliding mode surface reaching law with finite time convergence, and an individual actuator fault observer;

[0054] The leader state observer receives the three-dimensional position estimate of the leader from the neighboring follower agents that have a communication connection with the follower agent. and the 3D velocity estimate And output the follower agent's estimated 3D position of the leader agent and the 3D velocity estimate

[0055] The spatial motion model is used to receive the three-dimensional control quantity u of the follower agent output by the sliding mode controller i , output the three-dimensional position x of the follower agent i and the three-dimensional velocity v i ;

[0056] A sliding mode controller that receives the 3D position estimate of the leader from the follower agent The relative three-dimensional position instruction ρ in the formation with the set follower agent xi After addition, the three-dimensional position x of the follower agent i The difference between the follower agent and the leader agent's three-dimensional velocity estimate The relative three-dimensional speed command ρ in the formation with the set follower agent vi After addition, the three-dimensional velocity v of the follower agent i The difference between the individual actuator fault observer and the follower agent's compensation value for the fault And output the three-dimensional control volume u of the follower agent i ;

[0057] The individual actuator fault observer is used to receive the three-dimensional control quantity u of the follower agent output by the sliding mode controller i and the three-dimensional velocity v of the follower agent output by the spatial motion model i , output the compensation value of the follower agent for the fault

[0058] Embodiment 2:

[0059] This embodiment is further designed on the basis of the first embodiment in that the space motion model in this embodiment includes a motion model of a leader intelligent agent and a follower motion model taking actuator failure into consideration.

[0060] Embodiment three:

[0061] This embodiment is further designed on the basis of the second embodiment in that the motion model of the leader agent in this embodiment is:

[0062]

[0063] Where v0 is the three-dimensional velocity of the leader agent; is the differential of the three-dimensional velocity of the leader agent; is the differential of the three-dimensional position of the leader agent; u0 is the control input of the leader agent. x0,v0,u0∈R 3 , respectively represent the 3D position, 3D velocity and control input of the leader agent; R 3 is a three-dimensional matrix.

[0064] Embodiment 4:

[0065] This embodiment is further designed on the basis of the third embodiment in that the follower motion model considering the actuator failure in the spatial motion model in this embodiment is:

[0066]

[0067] f i (u i ,t)=Λ i (t)u i -d i (t)

[0068] [0,0,0]<Λ i (t)<[1,1,1]

[0069] In the formula, is the differential of the 3D position of the i-th follower agent; v i is the three-dimensional velocity of the i-th follower agent; N is the number of follower agents; is the differential of the three-dimensional velocity of the i-th follower agent; u i is the three-dimensional control quantity of the i-th follower agent; f(u i ,t) is the comprehensive interference considering the actuator bias fault and failure fault, f(u i ,t)=Λ i (t)u i -d i (t), Λ i (t) is the failure distribution matrix, that is, the failure coefficient, which is generally a 3*3 matrix, d i (t) is the bias fault of the ith follower agent, which is unknown but bounded, and is generally a 3*3 matrix; g is gravity plus three-dimensional velocity, g = [0, 0, 9.8] T .x i ,v i ,u i ∈R 3 They respectively represent the three-dimensional position, three-dimensional velocity and control input of the i-th agent in the system.

[0070] Embodiment five:

[0071] This embodiment is further designed on the basis of the fourth embodiment in that the expression of the communication link failure model in the leader state observer in this embodiment is:

[0072]

[0073] In the formula, a ij is the communication connection weight between the ith follower agent and the jth follower agent; a ij is the weight of the communication connection between the ith follower agent and the jth follower agent where the communication failure occurs; b i is the communication connection weight between the i-th follower agent and the leader agent; is the weight of the communication connection where the communication failure occurs between the ith follower agent and the leader agent; a ij and b i is the connection weight in the absence of a fault. If the i-th agent can receive the message from the j-th node, a ij >0 otherwise a ij =0; is the communication connection noise between the ith follower agent and the jth follower agent at time t; is the communication connection noise between the i-th follower agent and the leader agent at time t. and is the unknown communication link noise, which is represented by the noise caused by environmental changes, such as thermal noise, channel fading and quantization error;

[0074] Embodiment six:

[0075] This embodiment is further designed on the basis of the fifth embodiment in that the leader state observer in this embodiment adopts the following model to solve the communication link failure:

[0076]

[0077] In the formula, is the differential of the 3D position estimate of the leader agent by the i-th follower agent; is the three-dimensional velocity estimate of the leader agent by the i-th follower agent; c 1i and c 2i is the adaptive parameter of the ith agent related to the 3D position error and 3D velocity error; is the neighborhood observation error of the i-th follower agent relative to the three-dimensional position; is the neighborhood observation error of the i-th follower agent with respect to the three-dimensional velocity; Estimate the upper bound of the leader agent's input for the ith follower agent.

[0078] Embodiment seven:

[0079] This embodiment is further designed on the basis of the sixth embodiment in that the expression of the individual actuator fault observer in this embodiment is:

[0080]

[0081] In the formula, is the differential of the compensation value of the ith follower agent to the fault, that is, the differential of the estimated value of the ith follower agent to the fault; is the difference between the 3D velocity of the i-th follower agent and the 3D velocity estimate; is the differential of the three-dimensional velocity estimate of the i-th follower agent; k d1i and k d2i are the first and second gains of the i-th follower agent on the fault observer. d1i >0,k d2i >0 is the observer gain. By designing this observer, individual actuator faults can be estimated and the controller can be compensated.

[0082] Embodiment eight:

[0083] This embodiment is further designed on the basis of the seventh embodiment in that the expression of the sliding mode controller in this embodiment is:

[0084]

[0085] In the formula, e xi is the error between the 3D position of the i-th follower agent and the expected 3D position; e vi is the error between the 3D velocity of the ith follower agent and the expected 3D velocity; x i is the three-dimensional position of the i-th follower agent; is the estimate of the three-dimensional position of the leader agent by the i-th follower agent; ρ xi is the relative three-dimensional position instruction of the i-th follower agent in the formation; v i is the three-dimensional velocity of the i-th follower agent; is the estimate of the three-dimensional velocity of the leader agent by the i-th follower agent; s i is the sliding surface function of the ith agent; c is the parameter of the sliding surface function; k i is the first parameter of the convergence law of the i-th follower agent; β i is the second parameter of the convergence law of the ith follower agent; c i is the third parameter of the convergence law of the i-th follower agent.

[0086] k i >0,c i >0,β i > 0. When using the controller shown above, the follower agent can eliminate the uncertain effects of communication link failures and individual actuator failures, and can Stable over time.

[0087] Embodiment nine:

[0088] The present invention provides a finite time fault tolerant control method for a heterogeneous agent formation system controller under multiple fault conditions, using a heterogeneous agent formation system controller under multiple fault conditions as in any of the above embodiments, such as Figure 3 As shown, the specific steps are as follows:

[0089] The leader state observer receives the three-dimensional position estimate of the leader from the neighboring follower agents that have communication connections with the follower agents. and the 3D velocity estimate And output the follower agent's estimated 3D position of the leader agent and the 3D velocity estimate

[0090] The spatial motion model receives the three-dimensional control quantity u of the follower agent output by the sliding mode controller i , output the three-dimensional position x of the follower agent i and the three-dimensional velocity v i ;

[0091] The sliding mode controller receives the 3D position estimate of the leader from the follower agent. The relative three-dimensional position instruction ρ in the formation with the set follower agent xi After addition, the three-dimensional position x of the follower agent i The difference between the follower agent and the leader agent's three-dimensional velocity estimate The relative three-dimensional speed command ρ in the formation with the set follower agent vi After addition, the three-dimensional velocity v of the follower agent i The difference between the individual actuator fault observer and the follower agent's compensation value for the fault And output the three-dimensional control volume u of the follower agent i ;

[0092] The individual actuator fault observer receives the three-dimensional control quantity u of the follower agent output by the sliding mode controller i and the three-dimensional velocity v of the follower agent output by the spatial motion model i , output the compensation value of the follower agent for the fault Embodiment ten:

[0093] An electronic device includes a memory and a processor, wherein the memory stores a computer program, and the processor is used to call and run the computer program stored in the memory to execute the method of any of the above embodiments.

[0094] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of any of the above embodiments are implemented.

[0095] The above description is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a technician familiar with the technical field within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention.

Claims

1. A controller for a heterogeneous agent formation system under multiple fault conditions, wherein the heterogeneous agents include a virtual leader agent and a plurality of heterogeneous follower agents, characterized in that: The controller includes a leader state observer considering communication link failures, a spatial motion model considering actuator failures, a sliding mode controller with a sliding mode surface reaching law with finite time convergence, and an individual actuator fault observer; The leader state observer is used to receive the three-dimensional position estimation value of the leader intelligent body by the neighboring follower intelligent body that has a communication connection with the follower intelligent body. and the 3D velocity estimate And output the follower agent's estimated 3D position of the leader agent and the 3D velocity estimate The spatial motion model is used to receive the three-dimensional control quantity u of the follower agent output by the sliding mode controller i , output the three-dimensional position x of the follower agent i and the three-dimensional velocity v i ; The sliding mode controller is used to receive the three-dimensional position estimation value of the leader agent by the follower agent The relative three-dimensional position instruction ρ in the formation with the set follower agent xi After addition, the three-dimensional position x of the follower agent i The difference between the follower agent and the leader agent's three-dimensional velocity estimate The relative three-dimensional speed command ρ in the formation with the set follower agent vi After addition, the three-dimensional velocity v of the follower agent i The difference between the individual actuator fault observer and the follower agent's compensation value for the fault And output the three-dimensional control volume u of the follower agent i ; The individual actuator fault observer is used to receive the three-dimensional control quantity u of the follower agent output by the sliding mode controller. i and the three-dimensional velocity v of the follower agent output by the spatial motion model i , output the compensation value of the follower agent for the fault 2. The heterogeneous agent formation system controller under multiple fault conditions according to claim 1, characterized in that: The spatial motion model includes a motion model of a leader agent and a follower motion model taking actuator failure into consideration.

3. The heterogeneous agent formation system controller under multiple fault conditions according to claim 2, characterized in that: The movement model of the leader agent is: Where v0 is the three-dimensional velocity of the leader agent; is the differential of the three-dimensional velocity of the leader agent; is the differential of the three-dimensional position of the leader agent; u0 is the control input of the leader agent.

4. The heterogeneous agent formation system controller under multiple fault conditions according to claim 3, characterized in that: The follower motion model considering actuator failure in the spatial motion model is: f i (u i ,t)=Λ i (t)u i -d i (t) [0,0,0]<Λ i (t)<[1,1,1] In the formula, is the differential of the 3D position of the i-th follower agent; v i is the three-dimensional velocity of the i-th follower agent; N is the number of follower agents; is the differential of the three-dimensional velocity of the i-th follower agent; u i is the three-dimensional control quantity of the i-th follower agent; f(u i ,t) is the comprehensive interference considering the actuator bias fault and failure fault, f(u i ,t)=Λ i (t)u i -d i (t), Λ i (t) is the failure distribution matrix, d i (t) is the bias fault of the ith follower agent; g is gravity plus three-dimensional velocity, g = [0, 0, 9.8] T .

5. The heterogeneous agent formation system controller under multiple fault conditions according to claim 4, characterized in that: The expression of the communication link failure model in the leader state observer is: In the formula, a ij is the communication connection weight between the i-th follower agent and the j-th follower agent; is the weight of the communication connection between the ith follower agent and the jth follower agent where the communication failure occurs; b i is the communication connection weight between the i-th follower agent and the leader agent; is the weight of the communication connection where the communication failure occurs between the ith follower agent and the leader agent; is the communication connection noise between the ith follower agent and the jth follower agent at time t; is the communication connection noise between the i-th follower agent and the leader agent at time t.

6. The heterogeneous agent formation system controller under multiple fault conditions according to claim 5, characterized in that: The leader state observer uses the following model to solve communication link failures: In the formula, is the differential of the 3D position estimate of the leader agent by the i-th follower agent; is the three-dimensional velocity estimate of the leader agent by the i-th follower agent; c 1i and c 2i is the adaptive parameter of the ith agent related to the 3D position error and 3D velocity error; is the neighborhood observation error of the i-th follower agent relative to the three-dimensional position; is the neighborhood observation error of the i-th follower agent with respect to the three-dimensional velocity; Estimate the upper bound of the leader agent's input for the ith follower agent.

7. The heterogeneous agent formation system controller under multiple fault conditions according to claim 6, characterized in that: The expression of the individual actuator fault observer is: In the formula, is the differential of the compensation value of the ith follower agent to the fault, that is, the differential of the estimated value of the ith follower agent to the fault; is the difference between the 3D velocity of the i-th follower agent and the 3D velocity estimate; is the differential of the three-dimensional velocity estimate of the i-th follower agent; k d1i and k d2i are the first and second gains of the i-th follower agent on the fault observer.

8. The heterogeneous agent formation system controller under multiple fault conditions according to claim 7, characterized in that: The expression of the sliding mode controller is: In the formula, e xi is the error between the 3D position of the i-th follower agent and the expected 3D position; e vi is the error between the 3D velocity of the ith follower agent and the expected 3D velocity; x i is the three-dimensional position of the i-th follower agent; is the estimate of the three-dimensional position of the leader agent by the i-th follower agent; ρ xi is the relative three-dimensional position instruction of the i-th follower agent in the formation; v i is the three-dimensional velocity of the i-th follower agent; is the estimate of the three-dimensional velocity of the leader agent by the ith follower agent; s i is the sliding surface function of the ith agent; c is the parameter of the sliding surface function; k i is the first parameter of the convergence law of the i-th follower agent; β i is the second parameter of the convergence law of the ith follower agent; c i is the third parameter of the convergence law of the i-th follower agent.

9. A finite-time fault-tolerant control method for a heterogeneous agent formation system controller under multiple fault conditions, characterized in that: The heterogeneous intelligent agent formation system controller under multiple fault conditions as claimed in any one of claims 1 to 8 is adopted, comprising the following specific steps: The leader state observer receives the three-dimensional position estimation value of the leader intelligent body from the neighboring follower intelligent body that has a communication connection with the follower intelligent body. and the 3D velocity estimate And output the follower agent's estimated 3D position of the leader agent and the 3D velocity estimate The spatial motion model receives the three-dimensional control quantity u of the follower agent output by the sliding mode controller i , output the three-dimensional position x of the follower agent i and the three-dimensional velocity v i ; The sliding mode controller receives the three-dimensional position estimate of the leader agent by the follower agent. The relative three-dimensional position instruction ρ in the formation with the set follower agent xi After addition, the three-dimensional position x of the follower agent i The difference between the follower agent and the leader agent's three-dimensional velocity estimate The relative three-dimensional speed command ρ in the formation with the set follower agent vi After addition, the three-dimensional velocity v of the follower agent i The difference between the individual actuator fault observer and the follower agent's compensation value for the fault And output the three-dimensional control volume u of the follower agent i ; The individual actuator fault observer receives the three-dimensional control quantity u of the follower agent output by the sliding mode controller i and the three-dimensional velocity v of the follower agent output by the spatial motion model i , output the compensation value of the follower agent for the fault

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