Team Consensus for a Network of Unmanned Vehicles in Presence of Actuator Faults
Team Consensus for a Network of Unmanned Vehicles in Presence of Actuator Faults
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DOI：
10.1109/tcst.2009.2032921
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发表时间：
2010-09
影响因子：
4.8
通讯作者：
E. Semsar-Kazerooni;K. Khorasani
中科院分区：
文献类型：
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作者：
E. Semsar-Kazerooni;K. Khorasani
在本文中，性能分析的一队无人驾驶车辆（代理），受到致动器故障。团队的目标是通过使用半分散的最优控制策略，在修改的领导者-追随者架构中完成内聚运动。控制器，这是最近提出的作者，设计的基础上最小化的个别成本函数，通过使用可用的信息，从邻近集。结果表明，在致动器的有效性（LOE）故障的损失不会恶化的稳定性，也没有寻求共识的团队的目标。该故障将仅导致不同的瞬态行为，例如，代理收敛速度的变化，而共识值不变。另一方面，如果一个或多个智能体中的故障是浮动类型的，无论是在领导者还是追随者中，团队都不能再保持其共识，但团队的稳定性仍然可以得到保证。此外，领导者和健康的追随者适应追随者的变化时，浮动故障发生在一个代理。最后，在锁定到位（LIP）致动器故障的存在下，团队的行为也进行了研究。仿真结果证明了上述三种执行器故障情况下团队的表现。
In this paper, performance analysis of a team of unmanned vehicles (agents) that are subject to actuator faults is investigated. The team goal is to accomplish a cohesive motion in a modified leader-follower architecture by using a semi-decentralized optimal control strategy. The controller, which is recently proposed by the authors, is designed based on minimization of individual cost functions by using the available information from the neighboring sets. It is shown that a loss of effectiveness (LOE) fault in an actuator does not deteriorate the stability nor the consensus seeking goal of the team. This fault would only result in a different transient behavior, e.g., a change in the agent's convergence rate, without a change in the consensus value. On the other hand, if the fault in one or more of the agents is of the float type, either in the leader or the followers, the team could not maintain its consensus any longer, however the stability of the team can still be guaranteed. Moreover, the leader and the healthy followers adapt themselves to the follower's change when a float fault occurs in one of the agents. Finally, the behavior of the team in presence of the lock-in-place (LIP) actuator fault is also investigated. Simulation results are provided to demonstrate the performance of the team subject to the above three actuator fault scenarios.