Intermediate observer-based distributed fault estimation for heterogeneous multi-agent systems

被引：0
|
作者：
Guo C.-Y. [1 ]
Zhang K. [1 ]
Jiang B. [1 ]
Liu Q.-Y. [1 ]
机构：
[1] College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing
来源：
Kongzhi yu Juece/Control and Decision | 2023年 / 38卷 / 12期
关键词：
distributed fault estimation; H[!sub]∞[!/sub] performance; heterogeneous multi-agent systems; intermediate observer; unmanned aerial vehicles; unmanned ground vehicles;
D O I：
10.13195/j.kzyjc.2022.0458
中图分类号：
学科分类号：
摘要：
For heterogeneous multi-agent systems composed of UAVs and UGVs, this paper proposes a novel distributed fault estimation scheme based on intermediate observers, which can realize the simultaneous estimation of actuator faults and system states of the agent itself and its neighbors. Firstly, considering that the movement of UAVs in the XOY plane and the OZ axis directions is relatively independent, the heterogeneous multi-agent systems can be divided into the XOY plane of UAVs and UGVs’ position subsystem, and the OZ axis of UAVs’ position subsystem. Then, a distributed fault estimation observer based on intermediate variables is designed, so that the observer built on one agent can not only estimate the actuator faults and states of the selected agent itself and its neighbors, but also overcome the constraints of the observer matching conditions. Also, the gain matrices of the observer are solved based on the performance of H∞. Finally, the feasibility and effectiveness of the proposed method are verified by simulation experiments. © 2023 Northeast University. All rights reserved.
引用
收藏
页码：3473 / 3481
页数：8
相关论文
共 23 条
  • [1] Li Z T, Gao L X, Chen W H, Et al., Distributed adaptive cooperative tracking of uncertain nonlinear fractional-order multi-agent systems, IEEE/CAA Journal of Automatica Sinica, 7, 1, pp. 292-300, (2019)
  • [2] Dong X W, Zhou Y, Ren Z, Et al., Time-varying formation tracking for second-order multi-agent systems subjected to switching topologies with application to quadrotor formation flying, IEEE Transactions on Industrial Electronics, 64, 6, pp. 5014-5024, (2017)
  • [3] Maini P, Yu K, Sujit P B, Et al., Persistent monitoring with refueling on a terrain using a team of aerial and ground robots, The IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 8493-8498, (2019)
  • [4] Yu H L, Meier K, Argyle M, Et al., Cooperative path planning for target tracking in urban environments using unmanned air and ground vehicles, IEEE/ASME Transactions on Mechatronics, 20, 2, pp. 541-552, (2015)
  • [5] Krizmancic M, Arbanas B, Petrovic T, Et al., Cooperative aerial-ground multi-robot system for automated construction tasks, IEEE Robotics and Automation Letters, 5, 2, pp. 798-805, (2020)
  • [6] Wang H, Kang Y F, Yao L N, Et al., Fault diagnosis and fault tolerant control for T-S fuzzy stochastic distribution systems subject to sensor and actuator faults, IEEE Transactions on Fuzzy Systems, 29, 11, pp. 3561-3569, (2021)
  • [7] Chen T R, Hill D J, Wang C., Distributed fast fault diagnosis for multimachine power systems via deterministic learning, IEEE Transactions on Industrial Electronics, 67, 5, pp. 4152-4162, (2020)
  • [8] Yang G H, Zhang Z H., Review of interval observer based fault diagnosis techniques for dynamic systems, Control and Decision, 33, 5, pp. 769-781, (2018)
  • [9] Davoodi M R, Khorasani K, Talebi H A, Et al., Distributed fault detection and isolation filter design for a network of heterogeneous multiagent systems, IEEE Transactions on Control Systems Technology, 22, 3, pp. 1061-1069, (2014)
  • [10] Zhang Z H, Yang G H., Distributed fault detection and isolation for multiagent systems: An interval observer approach, IEEE Transactions on Systems, Man, and Cybernetics: Systems, 50, 6, pp. 2220-2230, (2020)
123