Multi-agent adaptive cooperative fault-tolerant tracking control method

• Main Authors: LUO SHIJIE, ZHANG YIGE, CHEN ZIKANG, ZHANG KUN
• Format: Patent
• Language: Chinese; English
• Published: 12.03.2024
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention discloses a multi-agent adaptive cooperative fault-tolerant tracking control method, which belongs to the field of multi-agent system control, and comprises the following steps: constructing a distributed high-order sliding mode observer to estimate the state of a leader; giving a tracking error conversion mechanism, and converting the constraint error into an unconstrained tracking error by applying the mechanism; estimating an unknown nonlinear function in the multi-agent system by adopting a fuzzy logic system; and a specified performance function with fixed time is designed to realize stable tracking performance. And it is proved that the tracking error of the multi-agent system can be converged to a small neighborhood within fixed time, so that the effectiveness of multi-agent control is ensured. 本发明公开了一种多智能体自适应协同容错跟踪控制方法，属于多智能体系统控制领域，包括：构建分布式高阶滑模观测器来估计领导者的状态；给出跟踪误差转换机制，并应用该机制将约束误差转化为无约束跟踪误差；采用模糊逻辑系统对多智能体系统中的未知非线性函数进行估计；设计固定时间的规定性能函数来实现稳定的跟踪性能。并证明多智能体系统的跟踪误差可以在固定时间内收敛到一个小邻域内，保证了多智能体控制的有效性。