Self-adaptive fault-tolerant control method of multi-agent system in encircling control

• Main Authors: FANG ZIYING, XU TAO, YI XIAOJIAN
• Format: Patent
• Language: Chinese; English
• Published: 07.06.2024
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

The invention discloses a self-adaptive fault-tolerant control method of a multi-agent system in encircling control. The method comprises the following steps: S1, respectively constructing state updating equations of a leader and a follower; constructing a communication topology matrix between followers; constructing a communication topology matrix between the leader and the follower; s2, calculating a surrounding error of the current follower; s3, obtaining the control input of the follower based on the current adaptive parameter and the encircling error of the current follower; substituting the control input of the follower into the state updating equation of the follower to obtain the updated state of the follower; substituting the input of the leader into the state updating equation of the leader to obtain the updated state of the leader; s4, updating adaptive parameters based on the encircling error of the current follower; and S5, repeating the steps S2 to S4 until the states of all followers are consis