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首页> 外文期刊>IEEE Transactions on Automatic Control >Distributed Fault Detection Isolation and Accommodation for Homogeneous Networked Discrete-Time Linear Systems
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Distributed Fault Detection Isolation and Accommodation for Homogeneous Networked Discrete-Time Linear Systems

机译：均质网络离散线性系统的分布式故障检测隔离与适应

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摘要

This note presents a discrete-time distributed fault diagnosis and accommodation scheme for homogeneous teams of cooperative autonomous agents. Each agent estimates, via a local observer, the overall state of the team; such an estimate is used to compute both the control input to the agent itself and a set of residual vectors, sensitive to faults occurring on anyone of the teammates. The occurrence of a fault in an agent is recognized by each of the teammates, even if they are not in direct communication with each other, when the corresponding residual exceeds a suitable adaptive threshold. A recovery strategy, based on the estimate of the maximum detection time, is then applied to remove the faulty agent and to rearrange the mission. The approach is validated via numerical simulations.
机译：本说明为合作的自治代理的同类团队提出了离散时间的分布式故障诊断和解决方案。每个代理商都通过当地观察员估算团队的整体状况；这样的估计用于计算对座席本身的控制输入和一组残差矢量，这些残差矢量对任何队友发生的故障都很敏感。当相应的残差超过合适的适应性阈值时，即使队友彼此之间没有直接联系，也可以通过每个队友识别出座席中发生了故障。然后，根据估计的最大检测时间，采取恢复策略，以清除故障代理并重新安排任务。该方法已通过数值模拟验证。

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