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Multi-intelligent-agent system collaborative fault-tolerant control method based on finite time control

A multi-agent system, limited time technology, applied in the field of multi-agent systems, can solve problems such as the inability to obtain convergence performance

Active Publication Date: 2018-03-13
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

However, in the research results obtained by most control design methods, the fastest convergence speed of the closed-loop system is exponential, so better convergence performance cannot be obtained

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  • Multi-intelligent-agent system collaborative fault-tolerant control method based on finite time control
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  • Multi-intelligent-agent system collaborative fault-tolerant control method based on finite time control

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Embodiment Construction

[0046] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0047] A cooperative fault-tolerant control method for multi-agent systems based on finite-time control, such as figure 1 As shown, the steps are as follows.

[0048] Step 1: Select an agent among all agents as the leader node, construct the communication topology of the multi-agent system through the communication link between the agents and express it in an undirected graph, and calculate the weighted adjacency matrix L+G, where G is the adjacency matrix of the leader node, and L is the Laplacian matrix.

[0049] The related theory of graph theory is used to describe the communication topology of the multi-agent system. Use T=(υ,ξ,E) to represent the communication topology of the multi-agent system; where, υ={υ 0 ,υ 1 ,…,υ N} represents all agents, υ 0 represents the leader node, υ i Represents the following nodes, i=1,2,…,N; ξ rep...

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Abstract

The invention discloses a multi-intelligent-agent system collaborative fault-tolerant control method based on finite time control. The method comprises the steps of firstly, selecting an intelligent agent as a leader node in all the intelligent agents, constructing a multi-intelligent-agent system communication topology and expressing by an undirected graph through communication links among the multiple intelligent agents, calculating a weighted adjacent matrix, establishing a finite time controller based on the state error based on a finite time theory for the established multi-intelligent-agent system with the leader nodes, establishing different finite time controllers for each intelligent agent, and obtaining a global dynamic equation of the multi-intelligent-agent system, so that thesystem can achieve cooperative fault-tolerant control within a specified time from the time a fault occurs. The defects of a non-finite-time closed-loop control system are overcome, and the robustnessand the disturbance resistance of a multi-intelligent-agent system are improved.

Description

technical field [0001] The invention belongs to the technical field of multi-agent systems, and in particular relates to a multi-agent system cooperative fault-tolerant control method based on finite time control. Background technique [0002] With the rapid development of science and technology, the systems serving social practice are becoming more and more complex, and people have higher and higher requirements for system security and reliability. The failure of equipment or certain components will not only affect the normal and stable operation of the system, but may even cause personal injury and property damage. Fault-tolerant control of dynamic systems is developed along with the development of fault diagnosis technology based on analytic redundancy. If the closed-loop control system is still stable and still has ideal characteristics when the actuator, sensor or component fails, the closed-loop control system is called a fault-tolerant control system. Fault-tolerant...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 张柯刘万璋姜斌
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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