具有多时变通信时延的网络化Euler-Lagrange系统神经网络容错一致性控制
Neural-Network-Based Fault-Tolerant Consensus Control for Networked Euler-Lagrange Systems with Multiple Time Varying Communication Delays
摘要: 本文研究了有向图下存在多个时变通信时延、执行器故障和通信故障的网络化Euler-Lagrange系统的容错一致性控制问题。通过引入辅助变量，根据不同时延的数量构建描述系统状态的增广系统。利用Lyapunov-Krasovskii方法，推导出多Euler-Lagrange系统达成一致性的充分条件。此外，结合输入–状态稳定性理论和自适应控制方法，设计了一种基于神经网络的分布式自适应控制器，以保证多智能体系统达成一致。最后，通过数值仿真进一步验证了所提控制策略的有效性。
Abstract: This paper investigates the fault-tolerant consensus control problem for networked Euler-Lagrange systems subject to multiple time-varying communication delays, actuator faults, and communication faults over a directed graph. An augmented system describing the system state is constructed according to the number of distinct delays by introducing auxiliary variables. Based on this, some sufficient conditions in terms of linear matrix inequality (LMI) for multiple Euler-Lagrange systems to achieve consensus are derived based on the Lyapunov-Krasovskii approach. Moreover, a neural-network-based distributed adaptive controller is developed to guarantee that such systems achieve consensus by integrating input-to-state stability theory with the adaptive control approach. Finally, the effectiveness of the proposed control strategy is further verified by a numerical simulation.
文章引用：付明洋, 郭鑫晨, 高阳. 具有多时变通信时延的网络化Euler-Lagrange系统神经网络容错一致性控制[J]. 应用数学进展, 2026, 15(3): 10-22. https://doi.org/10.12677/aam.2026.153083

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