摘要
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.
作者
李萌
武力兵
LI Meng;WU Libing(School of Science,University of Science and Technology Liaoning,Anshan 114051,China)
出处
《辽宁科技大学学报》
CAS
2022年第6期425-430,共6页
Journal of University of Science and Technology Liaoning
基金
辽宁省自然科学基金(2022-MS-356)。
关键词
线性多智能体系统
协同跟踪控制
自适应容错控制
linear multi-agent system
collaborative tracking control
adaptive fault tolerant control