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不确定非线性多智能体系统的分布式容错协同控制

DOI: 10.13195/j.kzyjc.2014.0376, PP. 1303-1308

Keywords: 非线性多智能体系统,执行器故障,协同控制,模糊逻辑系统,分布式控制

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Abstract:

针对一类存在未知非线性的多智能体系统,研究具有执行器故障的“领导-跟随”协同控制问题.利用模糊逻辑系统逼近系统的未知非线性,通过设计故障估计器辨识系统的故障.在“跟随者”之间的通信网络为单向连通的情况下,提出分布式模糊容错协同控制器的设计方案,实现“跟随者”的状态跟踪“领导者”的状态.基于Lyapunov稳定性理论,证明系统的跟踪误差一致最终有界.仿真结果验证了所提出设计方法的有效性.

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