| 引用本文: | 肖舒怡,阎高伟,黄鑫,李荣.有向切换拓扑下异构多智能体系统分层容错跟踪控制[J].控制理论与应用,2026,43(5):1101~1112.[点击复制] |
| XIAO Shu-yi,YAN Gao-wei,HUANG Xin,LI Rong.Distributed hierarchical fault-tolerant tracking control for heterogeneous multi-agent systems under switching directed topologies[J].Control Theory & Applications,2026,43(5):1101~1112.[点击复制] |
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| 有向切换拓扑下异构多智能体系统分层容错跟踪控制 |
| Distributed hierarchical fault-tolerant tracking control for heterogeneous multi-agent systems under switching directed topologies |
| 摘要点击 378 全文点击 23 投稿时间：2024-06-06 修订日期：2025-07-09 |
| 查看全文 查看/发表评论 下载PDF阅读器 HTML |
| DOI编号 10.7641/CTA.2025.40313 |
| 2026,43(5):1101-1112 |
| 中文关键词 异构多智能体 容错控制 分段广义受限能量函数 有向切换拓扑 分层控制 |
| 英文关键词 heterogeneous multi-agent systems fault-tolerant control piecewise generalized restricted potential function switching directed topologies hierarchical control |
| 基金项目 国家自然科学基金项目(62403346, 62103094), 山西省自然科学基金项目(202203021222101)资助. |
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| 中文摘要 |
| 针对有向切换拓扑下具有执行器故障的异构多智能体系统, 本文提出一种新的完全分布式容错跟踪控制
方案. 为了消除现有分布式容错控制结果中无法避免故障传播的现象, 引入具有虚拟协同层和实际物理层双层结构
的分层控制框架. 首先, 为每一个跟随者设计不依赖于全局拓扑信息的虚拟参考系统; 其次, 为了减轻切换拓扑和
执行器故障对下层跟踪误差瞬态性能的影响, 基于一组对称正定矩阵构造时变分段矩阵, 在此基础上提出分段广义
受限能量函数, 进而利用虚拟层提供的信息, 给出依赖于时变性能边界的自适应更新律和容错跟踪控制方案, 以约
束下层跟踪误差的范数在预定义的时变性能边界之内; 最后, 仿真结果验证了所提方法的有效性. |
| 英文摘要 |
| This article proposes a novel fully distributed fault-tolerant tracking control scheme for heterogeneous multiagent
systems subject to actuator failures under switching directed topologies. In order to eliminate the phenomenon
that fault propagation cannot be avoided in the existing distributed fault tolerant control results, the hierarchical control
framework with a two-layer structure of virtual cooperative layer and actual physical layer is introduced. Firstly, a virtual
reference system is designed for each follower which is independent on the global information about the communication
topology. Secondly, in order to mitigate the influence of switching topologies and actuator faults on the transient performance
of the lower tracking error, a time-varying piecewise matrix is constructed based on a set of symmetric positive
definite matrices. On this basis, a piecewise generalized restricted potential function is proposed. Then, the adaptive laws
and the fault-tolerant tracking controller are given which are depend on the time-varying performance bounds by using
the information provided by the virtual layer to constrain the norm of the lower tracking error within the predefined timevarying
performance function. Finally, simulation results verify the effectiveness of the proposed method. |
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