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首页> 外文期刊>Control Theory & Applications, IET >Distributed output-feedback cooperative tracking control of non-linear multi-agent systems with unknown actuator failures
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Distributed output-feedback cooperative tracking control of non-linear multi-agent systems with unknown actuator failures

机译：未知执行器故障的非线性多智能体系统的分布式输出反馈协同跟踪控制

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摘要

The distributed fault-tolerant control (FTC) problem for a class of non-linear multi-agent systems, in the presence of uncertain disturbances and actuator failures is studied. The considered actuator failure model includes bias fault and loss of effectiveness fault, and the total number of failures is allowed to be infinite. By combining a kind of high-gain K-filters and backstepping technique, the effect of uncertain disturbances and actuator failures can be effectively compensated by an output-feedback FTC strategy. In addition, for each subsystem, an extra estimator is introduced to deal with the parametric uncertainties caused by its neighbours. Based on this, some additional uncertain information transmission among connected subsystems can be avoided. It is shown that all the signals of the closed-loop system are globally bounded and the subsystem output tracking error can converge to an arbitrarily small residual by adjusting the high gain parameters. Simulation results are presented to illustrate the effectiveness of the proposed techniques.
机译：研究了一类非线性多智能体系统在存在不确定干扰和执行器故障的情况下的分布式容错控制（FTC）问题。考虑的执行器故障模型包括偏置故障和有效性故障损失，并且允许的故障总数是无限的。通过将一种高增益K滤波器和反推技术相结合，可以通过输出反馈FTC策略有效地补偿不确定干扰和执行器故障的影响。另外，对于每个子系统，引入一个额外的估计器来处理由其邻居引起的参数不确定性。基于此，可以避免在连接的子系统之间进行某些其他不确定的信息传输。结果表明，闭环系统的所有信号都是全局有界的，并且通过调整高增益参数，子系统的输出跟踪误差可以收敛到任意小的残差。仿真结果表明了所提出技术的有效性。

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