一类复杂网络的协同容错控制

Fault tolerant cooperative control for a class of complex networks

针对一类拓扑结构随时间变换的复杂网络提出一套协同容错的控制策略。设计基于邻居节点的线性互联控制律,主要研究各个系统同步问题,并给出一个各节点可同步的充分条件。在系统发生故障的时候,通过设计的协同控制率各节点仍然可以实现同步。通过一个包含四个单机械臂的复杂网络验证所设计的控制方法。

A fault tolerant cooperative control strategy for a class of complex network systems with the time varying interconnection topology was proposed. The general neighboring rule-based linear cooperative protocol was developed and a sufficient synchronization condition was derived. It was showed that the target point was still reached with the proposed fault tolerant cooperative control method when fault occurred. An example of a complex consisting of four one- link manipulators was presented to demonstrate the effectiveness of the proposed method.