双端切换拓扑下基于二值通信的多智能体系统容错控制

王祚; 朱延正; 陈新开; 杨帆; 苏春翌

doi:10.16383/i.aas.c210722

双端切换拓扑下基于二值通信的多智能体系统容错控制

doi: 10.16383/i.aas.c210722 cstr: 32138.14.j.aas.c210722

王祚^1,,
朱延正^2,,
陈新开^3,,
杨帆^1,,
苏春翌^4,

1.
华侨大学机电及自动化学院厦门 361021 中国
2.
山东科技大学电气与自动化工程学院青岛 266590 中国
3.
芝浦工业大学电子与信息系统系埼玉县 3378570 日本
4.
康考迪亚大学机械与工业工程系蒙特利尔 QC H3G 1M8 加拿大

基金项目: 国家重点研发计划(2024YFB3310701), 国家自然科学基金(62222310, 61973131, U1813201), 山东省泰山学者人才工程, 山东省自然科学基金重大基础研究项目(ZR2024ZD38), 日本学术振兴会项目(21K04129)资助

详细信息

作者简介:
王祚：华侨大学机电及自动化学院博士研究生. 2021年获得渤海大学控制科学与控制工程专业硕士学位. 主要研究方向为多智能体系统一致性控制. E-mail: wangzuo_2018@163.com

朱延正：山东科技大学电气与自动化工程学院教授. 2016年获得哈尔滨工业大学控制科学与工程专业博士学位. 主要研究方向为非确定切换系统控制理论与方法. 本文通信作者. E-mail: yanzhengzhu@sdust.edu.cn

陈新开：芝浦工业大学电子与信息系统系教授. 1999年获得名古屋大学工学博士学位. 主要研究方向为自适应控制和滑模控制. E-mail: chen@sic.shibaura-it.ac.jp

杨帆：华侨大学机电及自动化学院教授. 2008年获得康考迪亚大学获得机械工程专业博士学位. 主要研究方向为机电一体化和振动控制. E-mail: xmyf@hotmail.com

苏春翌：康考迪亚大学机械与工业工程系教授. 1990年获得华南理工大学控制工程专业毕业博士学位. 主要研究方向为机电一体化系统及机器人控制. E-mail: cysu@alcor.concordia.ca

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- 被引次数: 0
出版历程
- 收稿日期: 2024-11-10
- 录用日期: 2025-02-14
- 网络出版日期: 2025-05-14

Fault-tolerant Control for Multi-agent Systems Based on Binary-valued Communication Under Dual-terminal Switching Topologies

1.
College of Mechanical Engineering and Automation, Huaqiao University, Xiamen 361021, China
2.
College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao 266590, China
3.
Department of Electronic and Information Systems, Shibaura Institute of Technology, Saitama, 3378570, Japan
4.
Department of Mechanical and Industrial Engineering, Concordia University, Montreal, QC H3G 1M8, Canada

Funds: Supported by National Key Research and Development Program of China (2024YFB3310701), National Natural Science Foundation of China (62222310, 61973131, U1813201), Research Fund for the Taishan Scholar Project of Shandong Province of China, Major Basic Research of Natural Science Foundation of Shandong Province (ZR2024ZD38), and Japan Society for the Promotion of Science (21K04129).

More Information

Author Bio:
WANG Zuo Ph.D. candidate at the College of Mechanical Engineering and Automation, Huaqiao University. He received his M.S. degree in control theory and control engineering from Bohai University in 2021. His research interest covers multi-agent system consensus control

ZHU Yan-Zheng Professor at the College of Electrical Engineering and Automation, Shandong University of Science and Technology. He received his Ph.D. degree in control science and engineering from the Harbin Institute of Technology in 2016. His research interest covers control theory and method of nondeterministic switching systems. Corresponding author of this paper

CHEN Xin-Kai Professor at the Department of Electronic and Information Systems, Shibaura Institute of Technology. He received his Ph.D. degree in engineering from Nagoya University in 1999. His research interest covers adaptive control and sliding mode control

YANG Fan Professor at the College of Mechanical Engineering and Automation, Huaqiao University. He received his Ph.D. degree in mechanical engineering from Concordia University in 2008. His research interest covers mechatronics and vibration control

SU Chun-Yi Professor at the Department of Mechanical and Industrial Engineering, Concordia University. He received his Ph.D. degree in control engineering from the South China University of Technology in 1990. His research interest covers mechatronics system and robot control

摘要

摘要: 针对一类双端切换拓扑下基于二值通信的多智能体系统, 研究其迭代学习容错均值一致性控制问题. 为了降低通信负担和提高数据传输的安全性, 假设每个智能体只能从其邻居处接收到二值信息, 建立一类双端切换拓扑结构以调控智能体之间的信息传递, 放宽通信拓扑在时间轴上需要完整生成树的限制. 在双迭代尺度框架下, 通过二值信息的估计过程和迭代学习控制技术的交替使用, 实现对智能体邻居状态的估计, 并完成均值一致性控制任务. 进一步地, 针对系统存在执行器故障的影响, 提出一种迭代学习容错均值一致性控制方案, 利用迭代学习实现对故障参数的迭代估计, 以保证系统在执行器故障影响下的性能. 基于非负的复合能量函数理论, 证明所得到的误差系统是有界的. 最后, 利用数值仿真算例验证所提方法的可行性与有效性.
- 多智能体系统 /
- 二值通信 /
- 双端切换拓扑 /
- 均值一致性 /
- 容错控制 /
- 迭代学习控制
Abstract: For a class of multi-agent systems based on binary-valued communication under dual-terminal switching topologies, the iterative learning fault-tolerant averaging consensus control issue is studied. To reduce the communication burden and enhance the security of data transmission, it considers that each agent can only receive binary-valued information from its neighbors. A kind of dual-terminal switching topologies is established to regulate the information transfer among agents, relaxing the requirement for the communication topology to have a complete spanning tree over time. Under the two-iterative scale framework, based on alternating iterations of binary-valued information estimation and iterative learning control technology, the states of the agent′s neighbors are estimated, and the averaging consensus control task is accomplished. Furthermore, considering the actuator faults presented in the system, an iterative learning fault-tolerant averaging consensus control scheme is proposed, which makes use of iterative learning to realize the iterative estimation of fault parameters to ensure the performance of the system in the presence of actuator faults. Based on non-negative composite energy functions theory, it verifies that the corresponding error system is bounded. Finally, the feasibility and effectiveness of the proposed method are illustrated by numerical simulation examples.
- Multi-agent systems /
- binary-valued communications /
- dual-terminal switching topologies /
- averaging consensus /
- fault-tolerant control /
- iterative learning control

HTML全文

图 1 双端切换拓扑

Fig. 1 Dual-terminal switching topologies

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图 2 切换信号$\varrho(t)$

Fig. 2 Switching signal $\varrho(t)$

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图 3 双端切换拓扑下第30、120、210和300次迭代智能体的状态响应

Fig. 3 States response of the agents on 30th,120th,210th and 300th iteration under dual-terminal switching topologies

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图 4 双端切换拓扑下智能体的均值一致性误差

Fig. 4 Averaging consensus errors of the agents under dual-terminal switching topologies

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图 5 不具备完整生成树的切换拓扑

Fig. 5 Switching topologies without complete spanning tree

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图 6 不具备完整生成树的切换拓扑下第30、120、210和300次迭代智能体的状态响应

Fig. 6 States response of the agents on 30th,120th,210th and 300th iteration under switching topologies without complete spanning tree

下载: 全尺寸图片幻灯片

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