论文标题
具有时间变化的执行器故障的异质多代理系统的耐故障形成跟踪及其在操纵器的任务空间合作跟踪中的应用
Fault-Tolerant Formation Tracking of Heterogeneous Multi-Agent Systems with Time-Varying Actuator Faults and Its Application to Task-Space Cooperative Tracking of Manipulators
论文作者
论文摘要
本文解决了具有随时间变化的执行器故障的非线性多机构系统的编队跟踪问题，其中只有一部分代理可以通过带有跨越树的定向领导者 - 追随者网络访问领导者的信息。由执行器断层引起的控制系数的振幅和迹象都是未知且随时间变化的。上述设置提高了要研究的问题的实际相关性，同时，它对分布式控制器设计和渐近稳定性分析构成了技术挑战。通过引入分布式估计和控制框架，开发了一种基于Nussbaum增益技术的新型分布式控制法，以实现具有时间变化的执行器故障的异质非线性多机构系统的强大耐断层形成跟踪。可以证明可以保证渐近收敛。此外，与不确定的运动学，动力学和执行器断层无关，该方法应用于网络操纵器的任务空间合作跟踪。给出了数值模拟结果，以验证提出的设计的有效性。
This paper addresses a formation tracking problem for nonlinear multi-agent systems with time-varying actuator faults, in which only a subset of agents has access to the leader's information over the directed leader-follower network with a spanning tree. Both the amplitudes and signs of control coefficients induced by actuator faults are unknown and time-varying. The aforementioned setting improves the practical relevance of the problem to be investigated, and meanwhile, it poses technical challenges to distributed controller design and asymptotic stability analysis. By introducing a distributed estimation and control framework, a novel distributed control law based on a Nussbaum gain technique is developed to achieve robust fault-tolerant formation tracking for heterogeneous nonlinear multi-agent systems with time-varying actuator faults. It can be proved that the asymptotic convergence is guaranteed. In addition, the proposed approach is applied to task-space cooperative tracking of networked manipulators irrespective of the uncertain kinematics, dynamics, and actuator faults. Numerical simulation results are presented to verify the effectiveness of the proposed designs.
