基于中间观测器的异构多智能体系统分布式故障估计
作者:
作者单位:

南京航空航天大学

作者简介:

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中图分类号:

TP273

基金项目:

国家自然科学基金项目(面上项目,重点项目,重大项目)


Intermediate Observer-Based Distributed Fault Estimation for Heterogeneous Multi-Agent Systems
Author:
Affiliation:

Nanjing University of Aeronautics and Astronautics

Fund Project:

The National Natural Science Foundation of China (General Program, Key Program, Major Research Plan)

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    摘要:

    针对由无人机和无人车组成的异构多智能体系统, 论文提出一种新型的基于中间观测器的分布式故障估计方法, 可以实现对节点及其邻居执行器故障和系统状态的同时估计. 首先, 考虑到无人机在XOY 平面与在OZ轴方向的运动相对独立, 异构多智能体系统可以划分为由无人机和无人车组成的位置子系统的XOY 平面以及无人机位置子系统的OZ 轴. 再设计基于中间变量的分布式故障估计观测器, 不仅能同时估计出选定的智能体自身与其邻居的执行器故障和状态, 也能克服观测器匹配条件的限制, 并基于H∞ 性能指标求解观测器增益. 最后, 通过仿真实验验证本文所提方法的可行性与有效性.

    Abstract:

    For heterogeneous multiagent systems composed of UAVs and UGVs, this paper proposes a novel distributed fault estimation scheme based on intermediate observers, which can realize the simultaneous estimation of actuator faults and system states of agent itself and its neighbors. Firstly, considering that the movement of UAVs in the XOY plane and the OZ axis direction is relatively independent, the heterogeneous multiagent systems can be divided into the XOY plane of UAVs and UGVs’ position subsystem, and the OZ axis of UAVs’ position subsystem. Then, a distributed fault estimation observer based on intermediate variables is designed, so that the observer built on one agent can not only estimate the actuator faults and states of the selected agent itself and its neighbors, but also overcome the constraints of the observer matching conditions. Also, the gain matrices of the observer are solved based on the performance of H∞. Finally, the feasibility and effectiveness of the method proposed in this paper are verified by simulation experiments.

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历史
  • 收稿日期:2022-03-22
  • 最后修改日期:2023-02-16
  • 录用日期:2022-08-02
  • 在线发布日期: 2022-08-27
  • 出版日期: