不确定通信拓扑多智能体一致性容错控制问题研究

Research on Multi-agent Consensus Fault-tolerant Control Problem with Uncertain Communication Topology

针对不确定通信拓扑的多智能体系统(multi-agent systems,MAS),研究带有外部有界能量干扰且任意智能体执行器可能存在故障的多智能体系统鲁棒H∞一致性容错控制问题。引入权重矩阵,通过线性变换,对多智能体系统的状态方程进行降阶,将通信拓扑不确定的多智能体系统一致性容错控制问题转变为鲁棒二次渐近稳定问题;利用Lyapunov稳定性理论及LMI方法,推导出满足各智能体状态信息渐近一致的充分条件,并给出一致性容错控制律的求解方法;通过仿真验证了所提方法的有效性。结果表明:该方法可确保不确定通信拓扑下故障MAS的稳定性,且具有一定的扰动抑制性。

For multi-agent systems (MAS) with uncertain communication topology,the problem of robust H∞ consen sus fault-tolerant control for multi-agent systems with external bounded energy disturbances and actuator failures of any agent is studied.By introducing the weight matrix,the state equation of the multi-agent system is reduced by linear transformation,and the consensus fault-tolerant control problem of the multi-agent system with communication topology uncertainty is transformed into the robust quadratic asymptotic stability problem;Based on Lyapunov stability theory and LMI method,a sufficient condition for the state information of each agent to be asymptotically consistent is derived,and the solution of the consensus fault-tolerant control law is given.The effectiveness of the proposed method is verified by simulation.The results show that the proposed method can ensure the stability of fault MAS under uncertain communication topology,and has a certain disturbance rejection.