对于不确定的多代理系统而言,可靠的合作式容错控制系统可能会出现执行器故障
Jiantao Shi1, Xiang Chen1, Shuangqing Xing1
1College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing 211816, China.
Sensors (Basel, Switzerland)
|April 27, 2024
概括
本研究为多代理系统提供了一种强大的合作式容错控制方法,克服了传统估计器的局限性. 这种新的方法提高了系统对执行器故障和不确定性的弹性,即使是未知的故障界限.
科学领域:
- 控制系统工程 控制系统工程
- 机器人技术 机器人技术 机器人技术
- 网络化系统 网络化系统
背景情况:
- 多代理系统 (MAS) 面临不匹配的不确定性和执行器故障的挑战,影响合作控制.
- 传统的故障估计方法要求严格的匹配条件,限制了设计灵活性.
- 确保MAS中强大的故障耐受性控制 (FTC) 对于可靠的操作至关重要.
研究的目的:
- 为多代理系统制定一个强大的合作性耐故障控制战略.
- 通过消除故障估计匹配条件,克服传统故障估计技术的局限性.
- 设计一个先进的估计器,增强设计自由,提高故障耐受性.
主要方法:
- 没有故障估计匹配条件的中间变量估计器的设计.
- 将集中和分布式估计错误纳入估计者的反期.
- 开发一种使用故障估计信息的新型容错控制协议.
- 通过线性矩阵不等式 (LMI) 解决方案确定参数,使用坐标转换和舒尔分解解.
主要成果:
- 拟议的方法有效地处理多代理系统中的不匹配不确定性和执行器故障.
- 与传统方法相比,新型估计器设计提供了更多的设计自由.
- 耐故障控制协议表现出稳定性,即使故障界限及其衍生品是未知的.
- 该方法适用于有定向和无定向的多代理系统.
结论:
- 开发的强大的合作性耐故障控制策略显著提高了多代理系统的弹性.
- 创新的估计器设计克服了关键约束,为故障容忍提供了更灵活,更有效的解决方案.
- 数字模拟验证了在实际场景中提出的方法的有效性.
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