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摘要: 本文针对无领航者多智能体系统以及领航-跟随多智能体系统执行器故障问题，设计了基于比例-积分结构的容错控制律. 考虑到传统的比例型控制律无法消除加性干扰影响下的稳态误差，本文引入积分环节，在一致性控制律中融入状态的积分项，用于改善多智能体系统一致性过程的稳态性能. 针对领航者输入不为零的情况，设计非线性的一致性控制律，并借助黎卡提方程以及Lyapunov函数，进行多智能体系统在故障情况下的一致性分析和控制律设计. 最后，通过一系列对比仿真，说明了所设计控制律在改善系统稳态性能方面的优势.Abstract: In this paper, a kind of proportional-integral controller is designed to deal with the fault-tolerant control problem for leaderless multi-agent systems (MASs) and leader-follower MASs, which are subject to actuator faults. Considering that the traditional proportional-type controller cannot eliminate the steady-state error under the influence of additive disturbances, this paper incorporates the integral term of the state in the consensus controller to improve the steady-state performance. In addition, the consensus controller is designed to be nonlinear for the case where the input of the leader is not zero. Then, the consensus of the MAS is analyzed under actuator faults and the controller is designed with the help of Riccati equation and Lyapunov function. Finally, a series of comparative simulations are provided to illustrate the advantages of the designed controller in improving the steady state performance.
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Key words:
- Multi-agent system /
- fault-tolerant consensus /
- PI control /
- actuator fault
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图 5 P型控制律下的一致性误差: 加性故障
Fig. 5 Trajectories of the consensus error with P control and additive faults
图 6 P型控制律下的一致性误差: 加性故障
Fig. 6 Trajectories of the input variable with P control and additive faults
图 9 PI型控制律下的一致性误差: 加性故障
Fig. 9 Trajectories of the consensus error with PI control and additive faults
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