Liu Fei, Hua Yongzhao, Dong Xiwang, Li Qingdong, Ren Zhang
School of Automation Science and Electrical Engineering, Science and Technology on Aircraft Control Laboratory, Beihang University, 37 Xueyuan Road, Beijing, 100191, China.
School of Automation Science and Electrical Engineering, Science and Technology on Aircraft Control Laboratory, Beihang University, 37 Xueyuan Road, Beijing, 100191, China; Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing, 100191, China.
ISA Trans. 2020 Sep;104:145-153. doi: 10.1016/j.isatra.2019.01.024. Epub 2019 Jan 24.
This paper studies the time-varying formation tracking problem for general linear multi-agent systems with multiple leaders in the presence of both actuator failure and input saturation. The followers are required to uniquely determine and track the convex combination of the states of leaders, while maintaining a predefined time-varying formation. A hyperbolic tangent function is firstly introduced to modify the actuator model with input saturation constraint. Then, an augmented plant for dynamics of each follower is constructed to derive the control protocol by exploiting the dynamic surface control technique. The proposed control protocol deals with faults of bias and unknown bounded loss of effectiveness by means of adaptive fault-tolerant strategies, while a formation feasible condition should be satisfied. With the control signal generated by the augmented plant, the time-varying formation error is proved to be semi-globally uniformly bounded under the faults and input saturation, based on standard Lyapunov theory. Finally, a numerical simulation is implemented to demonstrate the effectiveness of the proposed algorithm.
本文研究了在存在执行器故障和输入饱和的情况下，具有多个领导者的一般线性多智能体系统的时变编队跟踪问题。要求跟随者唯一地确定并跟踪领导者状态的凸组合，同时保持预定义的时变编队。首先引入双曲正切函数来修正具有输入饱和约束的执行器模型。然后，通过利用动态表面控制技术，为每个跟随者的动力学构建一个增广对象，以推导控制协议。所提出的控制协议通过自适应容错策略来处理偏差故障和未知有界有效性损失，同时应满足编队可行条件。基于标准李雅普诺夫理论，利用增广对象生成的控制信号，证明了时变编队误差在故障和输入饱和情况下是半全局一致有界的。最后，通过数值仿真验证了所提算法的有效性。
