Reliable Memory Sampled-Data Consensus of Multi-Agent Systems With Nonlinear Actuator Faults
Reliable Memory Sampled-Data Consensus of Multi-Agent Systems With Nonlinear Actuator Faults
复制标题
具有非线性执行器故障的多智能体系统的可靠内存采样数据一致性
DOI：
10.1109/tcsii.2021.3124043
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Cao Yang
中科院分区：
文献类型：
--
作者：
Saravanakumar Ramasamy;Amini Amir;Datta Rupak;Cao Yang
本文针对一类非线性执行器故障（NAF）下的一般线性多智能体系统（MAS），提出了一种基于记忆的采样数据一致性框架。为了减少状态交换和节省能源，相邻代理之间的通信是基于可变采样间隔的状态样本。作为执行器中两个常见的约束，有界非线性部分失效和偏置故障都被考虑在问题的制定。在给定的情况下，保证一致性的充分条件推导出线性矩阵不等式（LMI）条件。与现有的基于Lyapunov-Krasovskii的方法不同，本简报中提出的设计框架基于循环函数方法，该方法减少了设计所需共识控制增益时的保守性。这种保守性较低的方法允许更大的采样间隔以及更严重的执行器故障，共同增强了所提出的方法的实用性。基于隧道二极管电路和非完整移动的机器人MAS的仿真结果量化了所提出的方法和改进的采样间隔的有效性。
This brief proposes a memory-based sampled-data consensus framework for general linear multi-agent systems (MAS) in the presence of a class of nonlinear actuator faults (NAF). To reduce state exchanges and preserve energy resources, communication between the neighboring agents are based on only samples of the states with variable sampling intervals. As two common constraints in the actuators, the bounded nonlinear partial loss of effectiveness and bias faults are both taken into account in the problem formulation. Sufficient conditions to guarantee consensus under the given circumstances are derived as linear matrix inequality (LMI) conditions. Different from existing Lyapunov-Krasovskii-based methods, the proposed design framework in this brief is based on a looped functional approach which reduces the conservation in designing the required consensus control gains. This less conservative approach allows a larger sampling interval as well as more severe actuator faults which together enhance the practicability of the proposed approach. Simulation results based on a tunnel diode circuit and a non-holonomic mobile robot MASs quantify the effectiveness of the proposed approach and the improved sampling intervals.