طراحی کنترل کنند ه ي اجماع توزیع شده مبتنی بر رویت گر براي سیستم هاي چندعاملی سینگولار رهبر-پیرو در حضور عیب حسگر
محورهای موضوعی : فناوری اطلاعات و ارتباطاتسعید پورمیرزایی 1 , حمیدرضا احمدزاده 2 , مسعود شفیعی 3
1 - دانشگاه صنعتی امیرکبیر(پلی تکنیک تهران)
2 - دانشگاه صنعتی امیرکبیر(پلی تکنیک تهران)
3 - دانشگاه صنعتی امیرکبیر(پلی تکنیک تهران)
کلید واژه: سیستمهاي چندعاملی , سیستمهاي سینگولار, تخمین عیب حسگر, کنتر لکننده تحمل پذیرعیب توزیعشده,
چکیده مقاله :
در این مقاله براي نخستین بار، مسئله ي تخمین ع یب حسگر و طراحی یک سیستم کنترل تحم لپذ یر ع یب توزیع شده به منظور اجماع رهبر پ - یرو در سیستمهاي چندعالم ی سینگولار همگن مورد بررسی قرار میگیرد. ابتدا، یک مدل الحاقی براي سیستم مورد مطالعه پیشنهاد م یشود. نشان داده شده است که مدل الحاقی پیشنهادشده در این مقاله بر خلاف برخی کارهاي تحقیقاتی مشابه منظم و بدون ضربه است . بر اساس این مدل، متغیرهاي حالت سیستم و ع یب حسگر با طراحی یک رویتگر سینگولار توزیع شده به صورت همزمان تخمین زده م یشوند. رویتگر پ یشنهادشده قابلیت تخمین ع یبهاي متغیر با زمان را نیز دارا میباشد . سپس، یک کنتر لکنندهي توزیعشده به منظور اجماع رهبر پ - یرو با استفاده از تخمین حال ت هاي سیستم و تخمین ع یب حسگر انجام شده؛ طراحی میشود . شروط کافی براي پایداري دینامیک خطاي تخمین حالت و دینامیک خطاي عدم توافق بر حسب ترمهاي نامساوي ماتریسی خطی بدست میآید و با حل آنها، ماتریسهاي بهره رویتگر و کنتر لکننده بدست میآیند. همه نامساويهاي خطی ماتریسی موجود MATLAB در مقاله با استفاده از نرمافزار حل شده است. در نهایت، صحتسنجی و کارایی سیستم کنترل پیشنهادي به منظور اجماع رهبر پ - یرو سیستم هاي چندعاملی سینگولار در معرض عیب حسگر با استفاده از شبیه سازي رایانهاي نشان داده میشود. نتایج شبی هسازي نشان میدهد که استراتژي کنترل پیشنهادي در مقابله با اثر عیب سنسور در سیستمهاي سینگولار چندعاملی کارا میباش .
In this paper, the problem of sensor fault estimation and designing of a distributed fault-tolerant controller is investigated to guarantee the leader-follower consensus for homogeneous singular multi-agent systems for the first time. First, a novel augmented model for the system is proposed. It is shown that the proposed model is regular and impulse-free unlike some similar research works. Based on this model, the state and sensor fault of the system are simultaneously estimated by designing a distributed singular observer. The proposed observer also has the ability to estimate time-varying sensor fault. Then, a distributed controller is designed to guarantee the leader-follower consensus using estimation of state and sensor fault. The sufficeient conditions to ensure the stability of the observer dynamic and consensus dynamic are drived in terms of linear matrix inequalities (LMIs). The gains of observer and controller are computed by solving these conditions with MATLAB software. Finally, the validation and efficiency of the proposed control system for the leader-follower consensus of singular multi-agent systems exposed to sensor faults is illustrated by computer simulations. The simulation results show that the propsed control strategy deeling to the sensor falut in the singular multi-agent systems is effective.
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