College of Electrical Engineering, Sichuan University, Chengdu 610065, China.
Sensors (Basel). 2023 May 17;23(10):4836. doi: 10.3390/s23104836.
This study proposed a novel adaptive interval Type-II fuzzy fault-tolerant control for constrained uncertain 2-DOF robotic multi-agent systems with an active fault-detection algorithm. This control method can realize the predefined-accuracy stability of multi-agent systems under input saturation constraint, complex actuator failure and high-order uncertainties. Firstly, a novel active fault-detection algorithm based on pulse-wave function was proposed to detect the failure time of multi-agent systems. To the best of our knowledge, this was the first time that an active fault-detection strategy had been used in multi-agent systems. Then, a switching strategy based on active fault detection was presented to design the active fault-tolerant control algorithm of the multi-agent system. In the end, based on the interval type-II fuzzy approximated system, a novel adaptive fuzzy fault-tolerant controller was proposed for multi-agent systems to deal with system uncertainties and redundant control inputs. Compared with other relevant fault-detection and fault-tolerant control methods, the proposed method can achieve predefinition of stable accuracy with smoother control input. The theoretical result was verified by simulation.
本研究提出了一种新颖的自适应区间型 II 模糊容错控制方法，用于具有主动故障检测算法的约束不确定二维机器人多智能体系统。该控制方法可以在输入饱和约束、复杂执行器故障和高阶不确定性下实现多智能体系统的预定精度稳定性。首先，提出了一种基于脉冲波函数的新颖主动故障检测算法，以检测多智能体系统的故障时间。据我们所知，这是首次将主动故障检测策略应用于多智能体系统中。然后，提出了一种基于主动故障检测的切换策略，用于设计多智能体系统的主动容错控制算法。最后，基于区间型 II 模糊逼近系统，为多智能体系统提出了一种新颖的自适应模糊容错控制器，以处理系统不确定性和冗余控制输入。与其他相关的故障检测和容错控制方法相比，所提出的方法可以实现具有更平滑控制输入的预定精度稳定性。理论结果通过仿真得到了验证。
