【摘要】：協(xié)同一致性問題為分布式多智能體系統(tǒng)的基礎(chǔ)問題,網(wǎng)絡(luò)化多智能體系統(tǒng)可通過協(xié)同控制律實現(xiàn)狀態(tài)一致。單個智能體的執(zhí)行器故障可通過智能體間的協(xié)同行為擴(kuò)散到整個系統(tǒng),使整個系統(tǒng)失穩(wěn)。然而傳統(tǒng)的故障診斷與容錯控制未考慮智能體間的協(xié)同行為,使其難于應(yīng)用于協(xié)同系統(tǒng)。因此,本文建立一種一致性多智能體系統(tǒng)故障處理框架,研究該框架下的基于未知輸入觀測器的故障檢測方法、基于極值搜索的故障參數(shù)辨識方法和基于李雅普諾夫穩(wěn)定性理論的協(xié)同容錯控制策略。 首先,建立包含協(xié)同項的一階系統(tǒng)和二階系統(tǒng)模型,并分析系統(tǒng)穩(wěn)定性與拉普拉斯矩陣的關(guān)系。在此基礎(chǔ)上分析系統(tǒng)故障、傳感器故障和執(zhí)行器故障對系統(tǒng)性能的影響,并對執(zhí)行器故障進(jìn)行進(jìn)一步分類。針對執(zhí)行器故障,通過解耦故障項矩陣,為每個智能體設(shè)計一組未知輸入觀測器進(jìn)行故障檢測,實現(xiàn)了快速的故障定位。分別為一階和二階系統(tǒng)的故障檢測設(shè)計了對應(yīng)的仿真場景,驗證了所提觀測器具有快速故障檢測的能力。 其次,利用極值搜索不依賴于數(shù)學(xué)模型的特性,提出一種新的自適應(yīng)故障參數(shù)辨識方法,即把故障參數(shù)辨識問題轉(zhuǎn)化為極值搜索的參數(shù)優(yōu)化問題。單故障情況,為其設(shè)計對應(yīng)的代價函數(shù),并證明了極值搜索閉環(huán)結(jié)構(gòu)的參數(shù)在滿足一定約束條件下,具有負(fù)梯度的收斂能力；多故障情況,基于梯度的思想設(shè)計了一種可同時辨識多個參數(shù)的極值搜索閉環(huán)結(jié)構(gòu),并分析了多種形式激勵函數(shù)的參數(shù)辨識性能。針對基于梯度思想的結(jié)構(gòu)收斂速度較慢的問題,提出了一種基于牛頓算法的參數(shù)辨識結(jié)構(gòu),并驗證了牛頓算法具有快速的參數(shù)辨識能力。 最后,基于李雅普諾夫穩(wěn)定性思想,設(shè)計調(diào)整互連權(quán)重的協(xié)同容錯策略。針對單故障情況,為其設(shè)計李雅普諾夫函數(shù),推導(dǎo)系統(tǒng)穩(wěn)定性條件,并根據(jù)該穩(wěn)定條件設(shè)計權(quán)重調(diào)整策略,在實現(xiàn)容錯的基礎(chǔ)上滿足一定的性能指標(biāo),并通過水平位置一致性運動仿真驗證其有效性,其中,二階系統(tǒng)中隔離了故障智能體；針對多故障情況,在隔離故障智能體的基礎(chǔ)上,設(shè)計了可重構(gòu)的協(xié)同控制律,以補償故障對系統(tǒng)的影響,從而實現(xiàn)一致性多智能體系統(tǒng)的故障容錯。
[Abstract]:The cooperative consistency problem is the basic problem of distributed multi-agent system. The networked multi-agent system can realize state consistency through cooperative control law. The actuator fault of a single agent can spread to the whole system through cooperative behavior between agents, which makes the whole system unstable. However, the traditional fault diagnosis and fault-tolerant control do not consider the cooperative behavior between agents, which makes it difficult to be applied to collaborative systems. Therefore, in this paper, a consistent multi-agent system fault processing framework is established, and the fault detection method based on unknown input observer is studied. Fault parameter identification method based on extremum search and cooperative fault-tolerant control strategy based on Lyapunov stability theory. First, the first and second order system models are established, and the relation between the stability of the system and Laplace matrix is analyzed. On this basis, the influence of system fault, sensor fault and actuator fault on the system performance is analyzed, and the actuator fault is further classified. For actuator fault, a set of unknown input observer is designed for each agent by decoupling the fault item matrix to detect the fault, and the fast fault location is realized. The corresponding simulation scenarios are designed for the first and second order system fault detection respectively. The proposed observer has the ability of fast fault detection. Secondly, a new adaptive fault parameter identification method is proposed, in which the problem of fault parameter identification is transformed into a parameter optimization problem of extreme value search, which does not depend on the mathematical model. In the case of single fault, the corresponding cost function is designed, and it is proved that the parameters of the closed-loop structure of extremum search have the convergence ability of negative gradient under certain constraint conditions. Based on the idea of gradient, a closed-loop structure of extremum search is designed, which can identify multiple parameters at the same time, and the parameter identification performance of various forms of excitation function is analyzed. In order to solve the problem of slow convergence of structure based on gradient, a parameter identification structure based on Newton algorithm is proposed, and the fast parameter identification ability of Newton algorithm is verified. Finally, based on Lyapunov stability theory, a cooperative fault-tolerant strategy is designed to adjust interconnection weights. For a single fault, the Lyapunov function is designed, and the stability condition of the system is deduced. According to the stability condition, the weight adjustment strategy is designed, and the certain performance index is satisfied on the basis of fault tolerance. The effectiveness of the method is verified by horizontal position consistent motion simulation, in which the fault agent is isolated in the second order system. Based on isolating the fault agent, a reconfigurable cooperative control law is designed to compensate for the influence of the fault on the system, and the fault tolerance of the consistent multi-agent system is realized.
【學(xué)位授予單位】：中南大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TP18;TP302.8

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本文編號：2399828