基于干扰观测器的异构多智能体自适应滑模容错一致性控制

doi:10.12341/jssms22212

系统科学与数学 ›› 2023, Vol. 43 ›› Issue (2): 281-294.DOI: 10.12341/jssms22212

基于干扰观测器的异构多智能体自适应滑模容错一致性控制

王君,杨荣连

兰州理工大学电气工程与信息工程学院, 兰州 730050

收稿日期:2022-03-30 修回日期:2022-08-21 出版日期:2023-02-25 发布日期:2023-03-16
通讯作者: 杨荣连,Email:yrl18293179134@163.com
基金资助:
国家自然科学基金(61463030)资助课题.

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王君,杨荣连. 基于干扰观测器的异构多智能体自适应滑模容错一致性控制[J]. 系统科学与数学, 2023, 43(2): 281-294.

WANG Jun, YANG Ronglian. Heterogeneous Multi-Agent Adaptive Sliding Mode Fault-Tolerant Consensus Control Based on Disturbance Observer[J]. Journal of Systems Science and Mathematical Sciences, 2023, 43(2): 281-294.

Heterogeneous Multi-Agent Adaptive Sliding Mode Fault-Tolerant Consensus Control Based on Disturbance Observer

WANG Jun, YANG Ronglian

School of Electrical Engineering and Information Engineering, Lanzhou University of Technology, Lanzhou 730050

Received:2022-03-30 Revised:2022-08-21 Online:2023-02-25 Published:2023-03-16

针对线性一阶和二阶异构多智能体系统,考虑到任意智能体可能发生的执行器故障以及受到外部干扰,研究了系统容错一致性控制设计问题.首先设计变增益扰动观测器,快速估计外部干扰;其次,利用一致性误差变量构造自适应积分滑模面,结合干扰观测器的估计值设计自适应滑模容错控制器.当异构多智能体系统存在执行器故障和外部扰动时,自适应滑模控制器可以保证智能体系统的位置和速度状态趋于一致.最后,利用Matlab仿真验证了所提方法的可行性与有效性.

关键词： 异构多智能体系统, 干扰观测器, 自适应控制, 自适应积分滑模面

The design of fault-tolerant consensus control for linear first-order and second-order heterogeneous multi-agent systems is studied considering the possible actuator failures and external disturbances of any agent. Firstly, the variable gain disturbance observer is designed to estimate the external disturbance rapidly. Secondly, the adaptive integral sliding mode surface is constructed by using consensus error variables, and the adaptive sliding mode fault-tolerant controller is designed by combining the estimates of disturbance observer. When there are actuator faults and external disturbances in heterogeneous multi-agent systems, the adaptive sliding mode controller can ensure that the position and velocity state of the system are consensus. Finally, the feasibility and effectiveness of the proposed method are verified by Matlab simulation.

Key words: Heterogeneous multi-agent system, disturbance observer, adaptive control, adaptive integral sliding surface

MR(2010)主题分类:

34H05
34K20

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