Fault-tolerant consistency control algorithm for second-order multi-agent system based on sliding mode control theory

Abstract

The invention discloses a fault-tolerant consistency control algorithm for a second-order multi-agent system based on a sliding mode control theory. Firstly, general Lipschitz continuity condition assumption is made for external nonlinear factors of the second-order multi-agent system; then, an upper limit for additive faults of an actuator is given and an adaptive change rate for the upper limitis proposed; and finally, a fault-tolerant control algorithm which enables the second-order multi-agent system to realize consistency under a given assumption and an additive fault of the actuator isproposed by using an actuator additive fault upper limit estimation value. The algorithm can solve the problem of consistency realization of the second-order multi-agent system under the simultaneousaction of the actuator additive fault and the external non-linear factors. To solve the problem of jitter caused by sliding mode control, by adjusting the adaptive law of the actuator additive fault upper limit estimation value, a fault-tolerant control law is reconstructed to effectively solve the hazard problems caused by jitter in the consistency control process. The algorithm is applicable tothe problem of consistency realization of a second-order multi-agent system with actuator additive faults under the action of external non-linear factors.

Description

technical field [0001] The invention relates to a fault-tolerant consistency control algorithm of a second-order multi-agent system based on sliding mode control theory, belonging to the field of multi-agent system control. Background technique [0002] In recent years, the research of multi-agent systems has gradually become a hot research topic in various fields, such as biological science, control field, computer field, artificial intelligence field and so on. The system composed of multiple agents has high efficiency in realizing the overall task of the system, and has strong robustness in resisting external disturbances and perturbations of certain system parameters. It gets rid of the traditional system's dependence on a single agent. We can solve tasks that a single agent cannot accomplish by utilizing the mutual information exchange between agents in a multi-agent system. In addition, we know that in the field of control, agents are often divided into first-order a...

AI Technical Summary

Problems solved by technology

[0005] Purpose of the invention: On the basis of some existing control methods, in order to solve the problem of consistency realization of the second-order multi-agent system under the simultaneous action of actuator failure and external nonlinear factors, by reasonably assuming the general conditions satisfied by the nonlinear factors and proposing To design a distributed fault-tolerant control protocol based on the adaptive law of the estimated value of the actuator fault upper limit, and finally use Lyapunov stability theory to prove the theoretical feasibility of the algorithm

For the jitter problem caused by sliding mode control, the present invention proposes an effective solution

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