摘要
针对有向图下具有未知控制方向和执行器故障的多智能体系统,研究了满足指定性能的容错控制(FTC)问题。设计中,利用模糊逻辑系统逼近未知非线性函数,引入特定的Nussbaum增益函数解决未知控制方向问题。基于反步设计方法和动态面技术,设计了分布式容错控制方案用以保证所有“跟随者”的输出与“领导者”的输出同步。基于李雅普诺夫稳定性理论,证明“跟随者”的输出最终能够跟踪“领导者”的输出,且同步误差始终在指定界内,仿真结果证明了所提出容错控制方案的有效性。
In this paper,the problem of active fault-tolerant control (FTC) with prescribed performance was investigated for Multi-agent systems under directed graphs with unknown control direction and actuator faults.Fuzzy logic systems was used to approach the unknown nonlinear function,and the problem of unknown control direction can be solved by using Nussbaum gain function.Based on the backstepping design principle and dynamic surface control technique,a fault-tolerant controller scheme was developed.By using Lyapunov function stability theory,it is proved that the outputs of all followers can track the leader and the synchronization errors staying in predefined bounds.Simulation results were provided to demonstrate the effectiveness of the proposed consensus scheme.
作者
王东阳
李永明
WANG Dongyang;LI Yongming(Liaoning University of Technology College of Science,Jinzhou 121001,China)
出处
《重庆理工大学学报（自然科学）》
CAS
北大核心
2019年第6期103-111,共9页
Journal of Chongqing University of Technology：Natural Science
基金
国家自然科学基金资助项目(61573175)
关键词
模糊逻辑系统
指定性能
未知控制方向
执行器故障
fuzzy logic systems
prescribed performance
unknown control direction
fault-tolerant control
