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- 2017
基于中间变量观测器的多智能体故障检测
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Abstract:
摘要： 针对无向拓扑结构下线性多智能体系统,研究执行器故障的检测问题。 通过设计一系列维数扩展的虚拟系统,给出一种基于中间变量观测器的执行器故障诊断方法,克服了现有观测器所需的匹配条件,利用合适的中间变量矩阵,可同时估计系统的状态信息和故障信息。 通过智能体状态之间的残差信息,不仅可以检测智能体发生故障,还可以检测相邻智能体故障信息。 基于Lyapunov 稳定性理论,证明了系统估计误差最终有界。仿真结果验证了所提出设计方法的有效性。
Abstract: The actuator fault detection was studied with fault detection for a class of linear multi-agent systems under indirect communication network topology. A set of virtual systems were designed, and an actuator fault detection algorithm was proposed based on intermediate observer, which overcame the restriction of observer matching condition. The intermediate variable matrix was used appropriately to simultaneously estimate the states and faults. The states residual signal between adjacent agents was used to detect not only its own faults but also the faults of its nearest neighbors. Based on the Lyapunov stability theory, it was proved that the estimation errors were uniformly ultimately bounded. Simulation results showed the effectiveness of the designed method
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