模型不确定的时滞多智能体系统容错一致性控制

兰州理工大学学报 ›› 2024, Vol. 50 ›› Issue (6): 69-75.

• 自动化技术与计算机技术 • 上一篇下一篇

模型不确定的时滞多智能体系统容错一致性控制

王君^*, 杨嘉琦

兰州理工大学电气工程与信息工程学院, 甘肃兰州 730050

收稿日期:2022-05-11 出版日期:2024-12-28 发布日期:2025-01-13
通讯作者: 王君(1973-),女,山东曲阜人,博士,教授.Email:382728645@qq.com
基金资助:
国家自然科学基金(61463030)

Fault-tolerant consensus control for time-delay multi-agent systems with model uncertainties

WANG Jun, YANG Jia-qi

College of Electrical and Information Engineering, Lanzhou Univ. of Tech., Lanzhou 730050, China

Received:2022-05-11 Online:2024-12-28 Published:2025-01-13

摘要/Abstract

摘要： 针对受到外界能量有限干扰情形下的模型不确定时滞多智能体系统,研究了任意智能体可能的失效故障下的容错一致性问题.首先,通过矩阵变换法将具有时滞的模型不确定多智能体系统容错一致性问题转变为闭环故障系统的渐进稳定性问题;其次,利用Lyapunov稳定性理论,设计任意执行器可能发生故障下的容错一致性控制器.在此基础上,推证出在有向通讯拓扑情况下受到外界能量有限干扰的模型不确定滞后多智能体故障系统,基于线性矩阵不等式(LMI)的容错一致性充分条件,以实现系统的位置与速度状态信息趋于一致.最后,使用6个智能体组成的无领导者系统模型进行仿真,验证所提出方法的可行性和有效性.

关键词: 时滞, 模型不确定, 多智能体系统, 容错一致性控制器

Abstract: In this paper, the fault-tolerant consensus control for model-uncertain multi-agent systems with time delays is studied in the case of possible failure of any agent and the external finite energy disturbance. Firstly, the fault-tolerant consensus control of multi-agent systems with time-delay model uncertainty is transformed into an asymptotic stability problem of closed-loop fault systems by matrix transformation method. Then, Lyapunov stability theory was used to design a fault-tolerant consensus controller for possible actuator faults. On this basis, the sufficient condition for fault-tolerant consistency in model uncertain delayed multi-agent systems subject to directed communication topologies and limited external energy disturbances is deduced, based on linear matrix inequality (LMI). These conditions ensure the convergence of position and velocity state information towards consensus. Finally, a leaderless system model consisting of six agents is used to verify the feasibility and effectiveness of the proposed method.

Key words: time delay, model uncertainty, multi-agent system, fault-tolerant consensus controller

中图分类号:

TP273

王君, 杨嘉琦. 模型不确定的时滞多智能体系统容错一致性控制[J]. 兰州理工大学学报, 2024, 50(6): 69-75.

WANG Jun, YANG Jia-qi. Fault-tolerant consensus control for time-delay multi-agent systems with model uncertainties[J]. Journal of Lanzhou University of Technology, 2024, 50(6): 69-75.

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模型不确定的时滞多智能体系统容错一致性控制

Fault-tolerant consensus control for time-delay multi-agent systems with model uncertainties

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