基于性能保证的异构多无人系统自适应容错控制OA
Cooperative adaptive fault-tolerant control for heterogeneous unmanned systems with guaranteed performance
针对由多个四旋翼无人机和两轮驱动无人车组成的异构多智能体系统,研究了其存在执行器时变故障和外部干扰时具有性能保证的容错控制问题.首先考虑多无人机-多无人车编队系统的全状态性能约束,特别是在执行器故障的情况下,结合性能函数和障碍Lyapunov方法解决跟随者无人机与无人车的位置与速度、姿态角与角速度约束问题.然后,提出基于神经网络的自适应容错控制策略来补偿未知执行器部分失效故障和外部扰动的影响.基于Lyapunov理论,分析了多无人机-多无人车编队系统的协同容错性能.最后,给出了多无人机-多无人车编队系统的编队跟踪构型与同步误差仿真结果,以验证所提出控制策略的有效性.
This paper studies the fault-tolerant control problem for the heterogeneous multiagent sys-tems consisting of multiple quadrotors and mobile robots with guaranteed performance in the presence of actuator faults and external disturbances.Firstly,the full-state performance constraints of the UAUs-UGVs formation are considered,especially in the case of actuator faults,and then the state constraints of heterogeneous unmanned systems are addressed by combining the performance functions and the barrier Lyapunov method.Then,the neural-network-based adaptive fault-tolerant control strategy is proposed to compensate for the unknown actuator loss of effectiveness and bias faults.Based on Lyapunov theory,the cooperative fault-tolerant time-varying formation convergence performance is discussed.The simulation re-sults on the formation tracking configuration and synohronization error are presented to validate the effec-tiveness of the proposed control strategy.
龚建业;王秀丽;郝梦雅;王村松
扬州大学信息与人工智能学院,225127,江苏省扬州市浙江工业大学信息工程学院,310023,浙江省杭州市徐州市水利工程运行管理中心,221000,徐州市南京工业大学智能制造研究院,211816,江苏省南京市
信息技术与安全科学
容错控制异构多智能体系统执行器故障自适应控制性能约束
fault-tolerant controladaptive controlheterogeneous multiagent systemsactuator faultperformance constraint
《曲阜师范大学学报（自然科学版）》 2026 (1)
34-48,15
国家自然科学基金(62303414,62203213)浙江省自然科学基金(LQ23F030016)江苏省自然科学基金(BK20250897).
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