IEEE Trans Cybern. 2018 Oct;48(10):2972-2980. doi: 10.1109/TCYB.2017.2753383. Epub 2017 Oct 18.
This paper studies the observer based fault tolerant tracking control problem for linear multiagent systems with multiple faults and mismatched disturbances. A novel distributed intermediate estimator based fault tolerant tracking protocol is presented. The leader's input is nonzero and unavailable to the followers. By applying a projection technique, the mismatched disturbances are separated into matched and unmatched components. For each node, a tracking error system is established, for which an intermediate estimator driven by the relative output measurements is constructed to estimate the sensor faults and a combined signal of the leader's input, process faults, and matched disturbance component. Based on the estimation, a fault tolerant tracking protocol is designed to eliminate the effects of the combined signal. Besides, the effect of unmatched disturbance component can be attenuated by directly adjusting some specified parameters. Finally, a simulation example of aircraft demonstrates the effectiveness of the designed tracking protocol.
本文研究了具有多重故障和不匹配干扰的线性多智能体系统的基于观测器的容错跟踪控制问题。提出了一种新的基于分布式中间估计器的容错跟踪协议。领导者的输入不为零且不可用于跟随者。通过应用投影技术，将不匹配的干扰分为匹配和不匹配的分量。对于每个节点，建立一个跟踪误差系统，为其构建一个由相对输出测量驱动的中间估计器，以估计传感器故障和领导者输入、过程故障和匹配干扰分量的组合信号。基于估计，设计了一种容错跟踪协议来消除组合信号的影响。此外，通过直接调整一些指定参数，可以衰减不匹配干扰分量的影响。最后，通过飞机的仿真示例验证了所设计的跟踪协议的有效性。
