对于具有混合故障的未知非线性MAS的数据驱动安全控制:一个层次控制方法
Yuyang Zhao1, Dawei Gong1, Jiaoyuan Chen1
1School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, No.2006, Xiyuan Ave, West Hi-Tech.Zone, Chengdu, 611731, Sichuan, China.
ISA transactions
|September 12, 2025
概括
一个新的层次控制策略解决了混合故障的未知非线性多代理系统 (MAS). 这种数据驱动的方法提高了复杂系统中耐故障控制的稳定性和可扩展性.
科学领域:
- 控制系统工程 控制系统工程
- 人工智能的人工智能
- 机器人技术 机器人技术 机器人技术
背景情况:
- 多代理系统 (MAS) 经常面临未知的动态和混合故障的挑战.
- 传统的无模型自适应控制 (MFAC) 方法可能因依赖共识错误而受到限制.
- 可扩展性和稳定性对于实际的MAS应用至关重要.
研究的目的:
- 开发一个新的层次数据驱动的共识控制策略,用于混合故障的未知非线性MAS.
- 在存在系统不确定性和故障的情况下,提高控制系统的稳定性和可扩展性.
- 提供无故障控制解决方案,不需要先前的系统模型知识.
主要方法:
- 提出了一个层次框架,解控制过程以提高性能.
- 一个完全分布式的观察者仅使用本地输入-输出数据来估计领导者动态.
- 分布式MFAC控制器包含在线执行器故障估计,以实时处理故障.
主要成果:
- 层次设计允许独立的代理操作,并减少代理间的干扰.
- 理论分析证实了混合故障下估计和跟踪错误的统一边界性.
- 在MAS示例和多操纵器平台上的模拟验证了该方法的有效性.
结论:
- 拟议的数据驱动层次控制策略为带有混合故障的未知非线性MAS提供了有效的解决方案.
- 该方法证明了与传统方法相比的实际适用性和增强的稳定性.
- 这项研究有助于在复杂的多代理系统中推进耐故障控制.
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