• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Control Theory & Applications, IET >Cooperative adaptive fault-tolerant tracking control for a class of multi-agent systems with actuator failures and mismatched parameter uncertainties
【24h】

Cooperative adaptive fault-tolerant tracking control for a class of multi-agent systems with actuator failures and mismatched parameter uncertainties

机译：一类具有执行器故障和参数不匹配不确定性的多智能体系统的自适应自适应容错跟踪控制

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This study addresses the cooperative fault-tolerant tracking control problem for a class of multi-agent systems subject to mismatched parameter uncertainties, external disturbances and actuator faults including loss of effectiveness, outage and stuck. The communication network is undirected connected graph with a fixed topology. It is assumed that the actuator efficiency factors, the upper bounds of the unparametrisable time-varying stuck faults and disturbance, are unknown. Different from the traditional centralised fault-tolerant tracking control problem, only part of the follower nodes can obtain the information of leader directly. On the basis of the local state information of neighbouring agents, a novel cooperative fault-tolerant tracking control scheme by using adaptive mechanism is proposed. By introducing the estimates of controller parameters driven by neighbourhood tracking errors, it is shown that not only the actuator faults in the follower nodes can be compensated, but also the global tracking objective can be achieved. Furthermore, it is proved that all closed-loop signals are bounded and all follower nodes asymptotically tracking to the leader can be achieved in the presence of actuator faults, external disturbances and mismatched parameter uncertainties. Finally, a numerical example is given to show the effectiveness of the proposed control scheme.
机译：这项研究解决了一类多代理系统的协作容错跟踪控制问题，该系统具有不匹配的参数不确定性，外部干扰和执行器故障，包括有效性损失，停电和卡住。通信网络是具有固定拓扑的无向连接图。假设执行器效率因数（不可参数化的时变卡死故障和干扰的上限）是未知的。与传统的集中式容错跟踪控制问题不同，只有部分跟随者节点可以直接获取领导者信息。在邻居代理的局部状态信息的基础上，提出了一种自适应机制的协作式容错跟踪控制方案。通过引入由邻域跟踪误差驱动的控制器参数的估计，表明不仅可以补偿跟随器节点中的执行器故障，而且可以实现全局跟踪目标。此外，证明了在存在执行器故障，外部干扰和参数失配不确定性的情况下，所有闭环信号都是有界的，并且可以渐近跟踪所有跟随器节点。最后，通过数值例子说明了该控制方案的有效性。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号