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针对无向拓扑结构下线性多智能体系统,研究执行器故障的检测问题。通过设计一系列维数扩展的虚拟系统,给出一种基于中间变量观测器的执行器故障诊断方法,克服了现有观测器所需的匹配条件,利用合适的中间变量矩阵,可同时估计系统的状态信息和故障信息。通过智能体状态之间的残差信息,不仅可以检测智能体发生故障,还可以检测相邻智能体故障信息。基于Lyapunov稳定性理论,证明了系统估计误差最终有界。仿真结果验证了所提出设计方法的有效性。
Aiming at the linear multi-agent system under undirected topology, the problem of actuator actuator failure detection is studied. By designing a series of virtual systems with dimension expansion, an actuator fault diagnosis method based on the intermediate variable observer is presented, which overcomes the matching conditions required by the existing observer. By using the appropriate intermediate variable matrix, the system can be estimated simultaneously The status information and fault information. Through the residual information between agent states, it not only can detect the agent failure, but also can detect the neighbor agent fault information. Based on the Lyapunov stability theory, it is proved that the system estimation error is ultimately bounded. The simulation results verify the effectiveness of the proposed design method.