指定性能的多智能体包含容错控制

Adaptive Fault-Tolerant Containment Control for Stochastic Nonlinear Multi-Agent Systems with Guaranteed Performances

摘要: 针对传感器故障的多智能体系统，本文提出了一种指定性能的容错包含控制方法。根据神经网络的性质，未知函数问题和未知观测器故障问题得到解决。通过指定性能函数，本文的包含误差都在指定范围内。根据李雅普诺夫稳定性理论和反步法的设计，一个系统有限时间内达到稳定的自适应容错控制器被设计出来，并且此系统内的所有信号一直最终有界，跟随者的多智能体的输出信号都被包含在领导者的输出信号所构成的凸包内。最后，通过仿真实验，验证了本文提出控制方法的有效性。

Abstract: This paper considers the fault-tolerate performance-guaranteed containment control problem for nonlinear multi-agent systems (MASs) in the presence of sensor faults. Due to the excellent ap-proximation characteristic, neural network (NN) is used to deal with unknown nonlinear functions and unknown sensor faults. In addition, the containment error is within a prescribed boundary, by using predefined performance function. By using Lyapunov stability theory and backstepping method, an adaptive fault-tolerant controller is designed to achieve the stability of the system in fi-nite time, and all the signals in the system are always finally bounded; the output signals of the fol-lower’s multi-agent are contained in the convex hull composed of the output signals of the leader. Finally, simulation results show the effectiveness of the proposed control scheme.