Yin Yanhui, Wang Fuyong, Liu Zhongxin, Chen Zengqiang
IEEE Trans Cybern. 2023 Dec;53(12):7497-7508. doi: 10.1109/TCYB.2022.3169692. Epub 2023 Nov 29.
This article aims to develop a virtual-actuator-based control scheme for the consensus tracking problem of multiagent systems (MASs) against actuator faults and mismatched disturbances. The proposed scheme has a double-layer structure. In the cyber layer, the nominal controller is designed with neighboring information for the fault-free case. While in the physical layer, the fault compensator, working as the virtual actuator, is applied to reconfigure faulty plants adaptively. This design enjoys the advantages that the nominal controller needs no adjustment and all its properties can be preserved after failure. Moreover, the proposed control scheme is distinguished by the following features: 1) the commonly imposed rank condition on outage faults is removed; 2) the norm bound of the leader's input is allowed to be unknown even though the topologies are switching and directed; and 3) there is no need to use the estimates of faults in the virtual actuator design, which means the negative impacts caused by the inaccurate fault estimation can be avoided. Finally, a numerical example is given to validate the effectiveness of the theoretical results.
本文旨在针对多智能体系统（MASs）的一致性跟踪问题，针对执行器故障和失配干扰，开发一种基于虚拟执行器的控制方案。所提出的方案具有双层结构。在网络层，针对无故障情况，利用相邻信息设计标称控制器。而在物理层，作为虚拟执行器的故障补偿器被应用于自适应地重新配置故障对象。这种设计具有标称控制器无需调整且其所有特性在故障后均可保留的优点。此外，所提出的控制方案具有以下特点：1）去除了对停电故障通常施加的秩条件；2）即使拓扑结构切换且有向，领导者输入的范数界也允许未知；3）在虚拟执行器设计中无需使用故障估计，这意味着可以避免不准确的故障估计所带来的负面影响。最后，给出一个数值例子来验证理论结果的有效性。
