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针对具有切换拓扑结构的多智能体系统,研究基于模型依赖平均驻留时间的多智能体系统的执行器故障估计问题。基于相对输出估计误差,为多智能体系统设计观测器,并由此建立全局动态误差方程。考虑拓扑结构变化和存在干扰的情况,基于切换系统稳定性理论和故障诊断理论,利用模型依赖平均驻留时间方法,分析给出观测器存在条件及参数设计判据,通过适当的故障估计算法,得到故障估计误差指数收敛且满足H∞性能的充分条件,并以线性矩阵不等式的形式给出。对多智能体系统进行仿真验证,结果表明所提出方法的正确性和有效性。
For multi-agent systems with switched topologies, actuator failure estimation of multi-agent systems based on model-dependent average dwell time is studied. Based on the relative output estimation error, the observer is designed for multi-agent system and the global dynamic error equation is established. Considering the change of topological structure and the existence of interference, based on the switching system stability theory and fault diagnosis theory, the existence of the observer and the parameter design criteria are analyzed by using the model relying on the average dwell time method. With proper fault estimation algorithm, The sufficient condition for the fault estimation error index to converge and satisfy the H∞ performance is obtained and is given as a linear matrix inequality. The simulation of multi-agent system shows that the proposed method is correct and effective.