在执行器/传感器故障的情况下,用于多代理系统的事件触发式容错跟踪控制
Zhengyu Ye1, Ziquan Yu1, Bin Jiang1
1College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.
ISA transactions
|November 28, 2024
概括
本研究引入了一个事件触发的容错跟踪控制 (FTTC) 协议,以确保多代理系统 (MAS) 的可靠估计和稳定性,尽管有传感器故障. 该方法提高了系统性能,并降低了通信负载.
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
- 故障诊断和故障容忍能力
背景情况:
- 多代理系统 (MAS) 中的传感器故障会损害测量可靠性和系统稳定性.
- 在通信限制下,现有的方法可能无法充分解决同时进行状态估计和故障诊断.
研究的目的:
- 为MAS开发一个事件触发的故障耐受跟踪控制 (FTTC) 协议.
- 确保可靠的状态估计和系统稳定性在存在传感器和执行器故障的情况下.
主要方法:
- 利用描述器方法重新设计系统并消除传感器故障效应.
- 设计了一个滑动模式观察器,用于同时进行状态估计和故障诊断 (FD).
- 开发了一个事件触发的分布式估计器,以最大限度地减少通信开销和估计领导者状态.
主要成果:
- 拟议的FTTC协议在执行器和传感器故障的情况下确保了系统稳定性.
- 事件触发机制有效地减少了通信负载,同时保持了估计准确性.
- 同时实现了状态估计和故障诊断.
结论:
- 开发的FTTC协议为面临传感器故障的MAS提供了强大的解决方案.
- 事件触发策略提高了分布式控制系统的效率和可靠性.
- 通过多个四旋翼模拟进行验证,证明了实际适用性.
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