故障下随机多智能体系统的混合无源/H∞容错一致性

Mixed passive/H∞fault-tolerant consensus for stochastic multi-agent systems with failures

本文研究了在有向拓扑结构下,马尔可夫跳变故障多智能体系统的混合无源/H1容错一致性问题.首先,针对系统中的执行器偏移故障,基于增广矩阵方法设计故障观测器以估计未知的偏移故障.进而,利用所估故障信息,基于混合无源/H1性能指标,利用代数图论、自由权矩阵、增广矩阵和线性矩阵不等式等方法,设计了相应的容错控制器,实现了故障情况下多智能体系统的容错一致性,最后通过数值仿真验证了该方法的有效性.

This paper aimed at investigating the mixed passive/H1 fault-tolerant consensus problem of stochastic multiagent systems under directed topology.Firstly,a fault observer is designed to estimate the unknown actuator bias fault based on the augmented matrix method.Then,in virtue of the estimated fault information and the mixed passive/H1 performance index,a fault-tolerant controller is designed by using algebraic graph theory,free weight matrix,and linear matrix inequality to achieve the fault-tolerant consensus.Finally,a numerical simulation is presented to demonstrate the effectiveness of the proposed method.