全局信息未知的多智能体自适应容错包容控制
Adaptive fault-tolerant containment control for multi-agent systems with unknown global information

摘要： 研究一类带有执行器故障并且全局信息未知的多领航者多智能体系统包容控制问题,其中执行器故障包括失效、卡死和中断。针对未知的全局信息问题,即Laplacian矩阵的最小特征值未知,通过自适应技术在线估计了控制器的耦合增益,进而设计鲁棒容错控制器实现跟随者的状态跟踪误差在不确定性、扰动、非线性动态和故障同时存在的情况下的稳定性,并给出一个仿真算例来验证所提出的方法的有效性。最终保证了跟随者的状态跟踪误差的渐近稳定性,即所有的跟随者状态轨迹能够跟踪到多个领航者所形成的凸包区域内。
Abstract: This paper studied the containment control problem for the multi-agent systems(MASs)with actuator faults, unmatched uncertainty, external disturbance, nonlinear dynamic and unknown global information. The considered actuator failures included loss of effectiveness, stuck and outage. The upper bounds of uncertainty, disturbance and faults were combined and estimated online, whose effects were further compensated by a designed control mechanism. To avoid using the global information, adaptive technique was used to estimate the coupling gain of the controller. The proposed containment controller guaranteed the tracking error converge to zero asymptotically, which implied the followers were driven into the convex hull spanned by the leaders. Finally, a simulation example was given to illustrate the effectiveness of the distributed fault-tolerant containment controller