一类线性多智能体系统的自适应容错控制

Adaptive fault tolerant control for a class of linear multi-agent systems

针对一类带有执行器故障的多智能体系统,给出一种改进的自适应协同容错控制器。通过在线更新控制器参数弥补执行器故障对多智能体系统的影响,进而保证多智能体系统的所有闭环信号一致有界,并且所有子系统的跟踪误差渐近地趋近于零。仿真结果验证了所提容错控制方法的有效性。

An improved adaptive cooperative fault-tolerant controller is proposed for a class of multi-agent systems with actuator faults. By updating the controller parameters online to compensate for the impacts of the actuator faults on the multi-agent system,it is ensured that all closed-loop signals of the multi-agent system are uniformly bounded,and the tracking errors of all the subsystems asymptotically approach zero. The simulation results verify the effectiveness of the proposed fault-tolerant control method.