Wang Xin, Yang Guang-Hong
IEEE Trans Cybern. 2020 May;50(5):1921-1930. doi: 10.1109/TCYB.2019.2901542. Epub 2019 Mar 15.
In this paper, for linear leader-follower networks with multiple heterogeneous actuator faults, including partial loss of effectiveness fault and actuator bias fault, a cooperative fault-tolerant control (CFTC) approach is developed. Assume that the interaction network topology among all nodes is a switching directed graph. To address the difficulty of designing the distributed compensation control laws under the time-varying asymmetrical network structure, a novel distributed-reference-observer-based fault-tolerant tracking control approach is established, under which the global tracking errors are proved to be asymptotically convergent in the presence of actuator failures. First, by constructing a group of distributed reference observers based on neighborhood state information, all followers can estimate the leader's state trajectories directly. Second, a decentralized adaptive fault-tolerant tracking controller via local estimation is designed to achieve the global synchronization. Furthermore, the reliable coordination problem under switching directed topology with intermittent communications is solved by utilizing the presented CFTC approach. Finally, the effectiveness of the proposed coordination control protocol is illustrated by its applications to a networked aircraft system.
在本文中，针对具有多个异构执行器故障（包括部分有效性损失故障和执行器偏差故障）的线性领导者-跟随者网络，开发了一种协同容错控制（CFTC）方法。假设所有节点之间的交互网络拓扑是一个切换有向图。为了解决在时变非对称网络结构下设计分布式补偿控制律的困难，建立了一种基于分布式参考观测器的新型容错跟踪控制方法，在该方法下，证明了在执行器故障情况下全局跟踪误差渐近收敛。首先，通过基于邻域状态信息构建一组分布式参考观测器，所有跟随者可以直接估计领导者的状态轨迹。其次，设计了一种通过局部估计的分散自适应容错跟踪控制器来实现全局同步。此外，利用所提出的CFTC方法解决了具有间歇性通信的切换有向拓扑下的可靠协调问题。最后，通过将所提出的协调控制协议应用于网络化飞机系统，说明了其有效性。
