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.

参考文献

［1］Ren W, Beard R, Atkins E. Information consensus in multivehicle cooperative control ［J］. IEEE Control Systems Magazine, 2007, 27(2):7182.

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

［3］Li Zhongkui, Ren Wei, Liu Xiangdong, et al. Distributed consensus of linear multiagent systems with adaptive dynamic protocols ［J］. Automatica,2013, 49 (7): 19861995.

［4］You Keyou, Li Zhongkui, Xie Lihua. Consensus condition for linear multiagent systems over randomly switching topologies ［J］. Automatica, 2013,49 (10): 31253132.

［5］Wang Zidong, Ding Derui, Dong Hongli, et al. Hinfinity consensus control for multiagent systems with missing measurements: The finitehorizon case ［J］. Systems and Control Letters, 2013,62 (1): 827836.

［6］Shi Jiantao, He Xiao, Wang Zidong, et al. Iterative consensus for a class of secondorder multiagent systems ［J］. Journal of Intelligent and Robotic Systems, 2013,73 (14): 655664.

［7］He Xiao, Wang Zidong, Zhou Donghua. Robust fault detection for networked systems with communication delay and data missing ［J］. Automatica, 2009,45(11): 26342639.

［8］Chen J, Patton R J. Robust modelbased fault diagnosis techniques for dynamic systems ［M］. NY: Springer Verlag, 1999: 7585.

［9］Ding S X. Modelbased fault diagnosis techniques and design schemes ［M］. NY: Springer Verlag,2008: 1321.

［10］Zhang Xiaodong. Decentralized fault detection for a class of largescale nonlinear uncertain systems ［C］∥ IEEE Proc of the American Control Conference. Baltimore, MD, USA: IEEE,2010: 56505655.

［11］Wu Yanchun, Ma Lifeng, Bo Yuming, et al. Reliable mixed H2/H∞ control for stochastic timevarying systems against actuator failures ［C］∥IEEE Proc of the Chinese Control Conference. NanJing, China: IEEE.2014: 30593064.

［12］Ma Lifeng, Wang Zidong, Bo Yuming, et al. Finitehorizon H2/H1 control for a class of nonlinear markovian jump systems with probabilistic sensor failures ［J］. International Journal of Control, 2011,84(11): 18471857.

[1]	何通, 韦亚利, 卢青, 毕千. 无人机群协同侦察多点目标路径规划与控制[J]. 空天防御, 2025, 8(1): 31-40.
[2]	周毅, 周良才, 史迪, 赵小英, 闪鑫. 基于安全深度强化学习的电网有功频率协同优化控制[J]. 上海交通大学学报, 2024, 58(5): 682-692.
[3]	金飞宇，陈龙胜，李统帅，石童昕. 高阶MIMO非线性多智能体系统分布式协同抗干扰控制[J]. J Shanghai Jiaotong Univ Sci, 2024, 29(4): 656-666.
[4]	于特, 刘佳鹏, 吴超, 周畅, 周胜增, 王磊. 基于非线性干扰观测器的无人船与自主水下航行器协同运动控制策略[J]. 上海交通大学学报, 2023, 57(S1): 114-123.
[5]	李彪, 王立文, 邢志伟, 王思博, 罗谦. 飞机地面除冰资源协同控制[J]. 上海交通大学学报, 2021, 55(11): 1362-1370.
[6]	于特, 王磊. 基于协同控制的自重构平台算法及试验验证[J]. 上海交通大学学报, 2021, 55(11): 1493-1498.
[7]	姜晓明, 王旭烽, 张伟芳, 刘宜罡. 激光跟瞄系统粗精复合轴协同控制策略优化研究[J]. 空天防御, 2019, 2(3): 31-37.
[8]	柴本本1，巫少方1，张建武1，林连华2，徐海港2. 电驱动双速自动变速器换挡过程的最优控制[J]. 上海交通大学学报（自然版）, 2018, 52(6): 658-665.

多机编队系统的协同容错控制

Cooperative Fault Tolerant Control for Multi-Vehicle Systems

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 8

编辑推荐

Metrics

本文评价