多机编队系统的协同容错控制

上海交通大学学报（自然版） ›› 2015, Vol. 49 ›› Issue (06): 819-824.

• 自动化技术、计算机技术 • 上一篇下一篇

多机编队系统的协同容错控制

史建涛,何潇，周东华

(清华大学自动化系, 北京 100084)

收稿日期:2014-12-10 出版日期:2015-06-29 发布日期:2015-06-29
基金资助:
国家自然科学基金资助项目（61490701;61210012;61290324;61473163）

Cooperative Fault Tolerant Control for Multi-Vehicle Systems

SHI Jiantao,HE Xiao,ZHOU Donghua

(Department of Automation, Tsinghua University, Beijing 100084, China)

Received:2014-12-10 Online:2015-06-29 Published:2015-06-29

摘要/Abstract

摘要：

摘要：研究了一类随机时变多机编队系统执行器故障下的协同容错控制问题.通过求解两组耦合的反向递推Riccati方程，得到适当的分布式协同容错控制律，使得该多机编队系统的协同跟踪误差在有限时间域［0,T］内有界，并且满足预定的H∞和H2性能指标约束.仿真结果验证了所提方法的有效性.

关键词: , 多机编队系统, 协同控制, 混合H&infin, /H2性能约束, 反向递推Riccati方程

Abstract:

Abstract： In this paper, the finitehorizon mixed H∞/H2 cooperative fault tolerant control problem was investigated for a class of stochastic timevarying multivehicle systems subject to actuator faults. By solving two coupled backward recursive Riccati equations, a distributed cooperative controller was obtained to make the cooperation tracking errors satisfy a given mixed H∞/H2 performance constraints. Effectiveness of the developed strategy was demonstrated by a numerical simulation.

Key words: multi-vehicle systems, cooperative control, mixed H∞/H2 performance constraints, backward recursive Riccati equations

中图分类号:

TP 273

史建涛,何潇，周东华. 多机编队系统的协同容错控制[J]. 上海交通大学学报（自然版）, 2015, 49(06): 819-824.

SHI Jiantao,HE Xiao,ZHOU Donghua. Cooperative Fault Tolerant Control for Multi-Vehicle Systems[J]. Journal of Shanghai Jiaotong University, 2015, 49(06): 819-824.

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多机编队系统的协同容错控制

Cooperative Fault Tolerant Control for Multi-Vehicle Systems

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