基于观测器的多智能体系统一致性控制与故障检测

针对一类受到未知干扰的非线性多智能体系统,提出了一种鲁棒一致性控制与故障检测算法.首先,针对每个智能体系统设计了一个未知输入非线性观测器.然后,基于观测器的状态估计信息,设计了鲁棒一致性控制协议.控制协议保证了给定的干扰抑制性能指标.接着,考虑智能体出现故障的情形,采用自适应阈值法,提出了一种分布式故障检测算法.最后,以多个直流电机驱动的单摆系统为例进行了仿真实验,仿真结果表明了一致性控制与故障检测算法的有效性.

Observer-based consensus control and fault detection for multi-agent systems

A robust consensus control and fault detection algorithm is proposed for a class of nonlinear multi-agent systems subject to unknown external disturbances. First, an unknown input nonlinear observer is designed for each agent. Then, a robust consensus control protocol is presented to achieve the state consensus of the multi-agent systems by ap- plying the estimated information of the nonlinear unknown input observers. The desired disturbance rejection criterion is guaranteed by the proposed control protocol. Thirdly, an adaptive threshold is derived and a fault detection approach based on adaptive threshold is proposed to detect the fault of each agent. The fault detection can be implemented by each agent in a fully distributed fashion. Finally, the proposed method is applied to the networked simple pendulums which are driven by dc motors. Simulation results are provided to validate the effectiveness of the proposed consensus control and fault detection scheme.