Fault-tolerant control method for linear multi-agent system actuator fault based on sliding mode

Abstract

The invention discloses a tracking fault-tolerant control method for a linear multi-agent system based on sliding mode control. A fault-tolerant control method based on the sliding mode control methodand adaptive control is proposed for the actuator fault of the linear multi-agent tracking system with external disturbance. Aiming at the actuator partial failure fault that may occur in the agent,the state error variable is defined according to the communication topology between multi-agents, the integral sliding mode surface is designed based on the error variable and sufficient conditions for sliding mode asymptotic stability are given. Then the unknown upper bound of the actuator fault is estimated by the adaptive method, and a sliding mode fault-tolerant controller is proposed to guarantee the tracking stability of the multi-agent system. The integral sliding mode surface is designed according to the state error variable between the multi-agents and the robustness of the system isenhanced, and the fault-tolerant control law having good fault-tolerant ability when the system has partial actuator failure fault and external disturbance is put forward and the tracking stability ofthe multi-agent system is improved. The fault-tolerant control method is used for fault tolerant control of the linear multi-agent system with the actuator failure fault and the external disturbance.

Description

technical field [0001] The invention relates to a fault-tolerant control method of a linear multi-agent system based on sliding mode, belonging to the field of multi-agent system control. Background technique [0002] With the rapid development of control theory, the control technology of a single agent is gradually becoming mature. In recent years, with the wide application of computer networks and the continuous development of artificial intelligence technology, the multi-agent system containing multiple individuals has aroused great research enthusiasm, which is largely due to the fact that the multi-agent system can Coordinate with each other to complete relatively complex tasks, and more effectively complete tasks that cannot be completed by a single system while saving costs. In view of the advantages of a wider range of tasks and higher efficiency, multi-agent systems have been used in many fields, such as robots, UAV formation control, automated traffic control, com...

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Problems solved by technology

However, most of the existing solutions are fault-tolerant control based on adaptive control, and it is difficult to have good robustness to the unavoidable system parameter perturbation and external interference in actual engineering, so the present invention has certain innovation and practicability

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