多机编队系统的协同容错控制

Cooperative Fault Tolerant Control for Multi-Vehicle Systems

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.

In this paper, the finite-horizon mixed H~/Hz cooperative fault tolerant control problem was in- vestigated 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.