存在执行器故障的多智能体系统的容错一致性

摘要/Abstract

摘要：

摘要：考虑了同时存在执行器故障以及外部扰动下领航跟随多智能体系统的容错一致性问题，其中，执行器故障由执行器增益变化来刻画；针对可能的执行器故障，设计具有自适应增益的补偿控制律，并与标称控制律共同作用来实现容错一致性，在进行增益系数以及控制律设计中，均采用相对输出信息而非相对状态信息；通过分析闭环跟踪误差系统的渐近稳定性，给出原来多智能体系统实现容错一致性所需满足的条件.结果表明，在未知扰动以及领航者输入范数满足一定条件下，通过适当选择参数可以实现容错一致性的目标.最后，采用数值仿真验证了所得结果的有效性.

关键词: , 容错一致性, 多智能体系统, 自适应增益

Abstract:

Abstract： A fault tolerant consensus problem for multi-agent systems with actuator faults and exterior disturbance was investigated, where the actuator fault was characterized by gain variation. An adaptive-gain compensating control law was added to the nominal control input to ensure consensus. Relative output information rather than state information was utilized to design the control law. By analyzing the stability of the closed-loop tracking error systems, a sufficient condition for consensus of the original system was proposed. It is shown that as long as the control input of leader agent and the exterior disturbance are bounded by some positive constants, fault-tolerant consensus can be realized by appropriately choosing the design parameters. A numerical simulation validates the main results.

Key words: fault-tolerant consensus, multi-agent system, adaptive-gain

中图分类号:

TP 273

张旭，陈茂银，王凌，周东华. 存在执行器故障的多智能体系统的容错一致性[J]. 上海交通大学学报（自然版）, 2015, 49(06): 806-811.

ZHANG Xu,CHEN Maoyin,WANG Ling，ZHOU Donghua. Fault-Tolerant Consensus for a Network of Multi-Agent Systems with Actuator Faults[J]. Journal of Shanghai Jiaotong University, 2015, 49(06): 806-811.

参考文献

［1］OlfatiSaber R, Murray R M. Consensus problems in networks of agents with switching topology and timedelays ［J］. IEEE Transactions on Automatic Control, 2004, 49(9): 15201533.

［2］Ren W, Beard R W. Consensus algorithms for doubleintegrator dynamics ［M］. Distributed Consensus in Multivehicle Cooperative Control: Theory and Applications, Springer, 2008: 77104.

［3］Ma C Q, Zhang J F. Necessary and sufficient conditions for consensusability of linear multiagent systems ［J］. IEEE Transactions on Automatic Control, 2010, 55(5): 12631268.

［4］Li Z, Duan Z, Chen G, et al. Consensus of multiagent systems and synchronization of complex networks: A unified viewpoint ［J］. IEEE Transactions on Circuits and Systems I: Regular Papers, 2010, 57(1): 213224.

［5］Zhao L, Jia Y. Neural networkbased adaptive consensus tracking control for multiagent systems under actuator faults ［J］. International Journal of Systems Science, 2014 (aheadofprint): 112.

［6］Zuo Z, Zhang J, Wang Y. Distributed consensus of linear multiagent systems with fault tolerant control protocols ［C］∥Control Conference (CCC), 2014 33rd Chinese. USA: IEEE, 2014: 16561661.

［7］Li J Z. Fault tolerant consensus of multiagent systems with linear dynamics ［J］. Mathematical Problems in Engineering, 2013, ID465671.

［8］Chen S, Ho D W C, Li L, et al. Faulttolerant consensus of multiagent system with distributed adaptive protocol ［J］. IEEE Transaction on Cybernetics, 2014, DOI: 10.1109/TCYB. 2014.2366204.

［9］Zuo Z, Ho D W C, Wang Y. Fault tolerant control for singular systems with actuator saturation and nonlinear perturbation ［J］. Automatica, 2010, 46(3): 569576.

［10］Godsil C D, Royle G. Algebraic graph theory ［M］. New York: Springer, 2001.

［11］Li Z, Liu X, Ren W, et al. Distributed tracking control for linear multiagent systems with a leader of bounded unknown input ［J］. IEEE Transactions on Automatic Control, 2013, 58(2): 518523.

［12］Li Z, Ren W, Liu X, et al. Consensus of multiagent systems with general linear and Lipschitz nonlinear dynamics using distributed adaptive protocols ［J］. IEEE Transactions on Automatic Control, 2013, 58(7): 17861791.

编辑推荐

Metrics

阅读次数

全文

201

HTML			PDF

最新录用	在线预览	正式出版	最新录用	在线预览	正式出版
0	0	0	3	0	198

来源	本网站	其他网站

次数	27	174
比例	13%	87%

摘要

824

最新录用	在线预览	正式出版

49	0	775

来源	本网站	其他网站

次数	290	534
比例	35%	65%

[1]	王聚团, 戚晓宁, 黄志明. 水下生产管汇测试技术及其改进研究[J]. 海洋工程装备与技术, 2022, 9(2): 43-49.
[2]	袁振钦, 邹科, 孙亚峰, 刘刚, 屈衍, 李居跃. 基于时域分析法的动态电缆疲劳分析[J]. 海洋工程装备与技术, 2022, 9(2): 50-55.
[3]	王娟, 杨明旺, 郑茂尧, 刘凌云, 赵立君. 高强钢在大型半潜式平台组块建造中的应用[J]. 海洋工程装备与技术, 2022, 9(1): 27-31.
[4]	陈欣, 赵晓磊, 王立坤, 肖德明, 张腾月. 深水大型吸力锚建造技术研究[J]. 海洋工程装备与技术, 2022, 9(1): 32-36.
[5]	尹彦坤, 易涤非. 半潜式生产平台船体结构关键节点工程临界评估[J]. 海洋工程装备与技术, 2022, 9(1): 52-57.
[6]	ZHANG Shengfa (张胜发), TANG Na (唐纳), SHEN Guofeng (沈国峰), WANG Han (王悍), QIAO Shan (乔杉). Universal Software Architecture of Magnetic Resonance-Guided Focused Ultrasound Surgery System and Experimental Study[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(4): 471-481.
[7]	MA Qunsheng (马群圣), CEN Xingxing (岑星星), YUAN Junyi (袁骏毅), HOU Xumin (侯旭敏). Word Embedding Bootstrapped Deep Active Learning Method to Information Extraction on Chinese Electronic Medical Record[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(4): 494-502.
[8]	KONG Xiangqiang (孔祥强), MENG Xiangxi (孟祥熙), LI Jianbo (李见波), SHANG Yanping (尚燕平), CUI Fulin (崔福林) . Comparative Study on Two-Stage Absorption Refrigeration Systems with Different Working Pairs[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(2): 155-162.
[9]	ZHUANG Weimin (庄蔚敏), WANG Pengyue (王鹏跃), AO Wenhong (熬文宏), CHEN Gang (陈刚) . Experiment and Simulation of Impact Response of Woven CFRP Laminates with Different Stacking Angles[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(2): 218-230.
[10]	安庆升, 孙立东, 武秋生. 碳纤维增强复合材料发射筒设计研究[J]. 空天防御, 2021, 4(2): 13-.
[11]	ZHOU Xuhui (周旭辉), ZHANG Wenguang (张文光), XIE Jie (谢颉). Effects of Micro-Milling and Laser Engraving on Processing Quality and Implantation Mechanics of PEG-Dexamethasone Coated Neural Probe[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(1): 1-9.
[12]	HUANG Ningning (黄宁宁), MA Yixin (马艺馨), ZHANG Mingzhu (张明珠), GE Hao (葛浩), WU Huawei (吴华伟). Finite Element Modeling of Human Thorax Based on MRI Images for EIT Image Reconstruction[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(1): 33-39.
[13]	WANG Xianjin, GAO Xu, YU Kuigang . Fixture Locating Modelling and Optimization Research of Aluminum Alloy Sidewall in a High-Speed Train Body[J]. J Shanghai Jiaotong Univ Sci, 2020, 25(6): 706-713.
[14]	QIAO Xing, MA Dan, YAO Xuliang, FENG Baolin. Stability and Numerical Analysis of a Standby System[J]. J Shanghai Jiaotong Univ Sci, 2020, 25(6): 769-778.
[15]	WU Jin, MIN Yu, YANG Xiaodie, MA Simin . Micro-Expression Recognition Algorithm Based on Information Entropy Feature[J]. Journal of Shanghai Jiao Tong University(Science), 2020, 25(5): 589-599.