An Adaptive Fault Isolation and Tolerant Control Method Based on Consistency Error for Multi-agent Systems

被引：0

作者：

Fu, Shanshan ^{[1
]}

Ma, Liling ^{[1
]}

Wang, Junzheng ^{[1
]}

机构：

[1] Beijing Inst Technol, Sch Automat, State Key Lab Intelligent Control & Decis Complex, Beijing 100081, Peoples R China

来源：

2022 41ST CHINESE CONTROL CONFERENCE (CCC) | 2022年

基金：

中国国家自然科学基金;

关键词：

Fault Isolation; Adaptive Control; Fault Tolerant Control; Uniformity;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper is aimed at the second-order linear multi-agent formation systems. Due to the failure of the actuator in a node, the wrong interactive information is transmitted between nodes, so that the entire system cannot complete the expected task. A distributed adaptive fault isolation and fault tolerance method based on consistency theory is proposed. Creatively the consistency error variable is designed according to the connection relationship between nodes and the faulty node, which eliminates the influence of the faulty node on the neighbor nodes. Then, an overall distributed adaptive fault isolation and fault tolerance approach is designed according to the local information of neighbor agents. The stability of the designed approach is proved by constructing a reasonable Lyapunov function. Simulation results show that the proposed adaptive control approach has good robustness.

引用

页码：4022 / 4027

页数：6

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