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研究一类带有执行器故障并且全局信息未知的多领航者多智能体系统包容控制问题,其中执行器故障包括失效、卡死和中断。针对未知的全局信息问题,即Laplacian矩阵的最小特征值未知,通过自适应技术在线估计了控制器的耦合增益,进而设计鲁棒容错控制器实现跟随者的状态跟踪误差在不确定性、扰动、非线性动态和故障同时存在的情况下的稳定性,并给出一个仿真算例来验证所提出的方法的有效性。最终保证了跟随者的状态跟踪误差的渐近稳定性,即所有的跟随者状态轨迹能够跟踪到多个领航者所形成的凸包区域内。
A multi-agent multi-agent system containment control problem with actuator failure and unknown global information is investigated, in which actuator failures include failure, jamming and interruption. In view of the unknown global information problem, that is, the minimum eigenvalue of Laplacian matrix is unknown, the coupling gain of the controller is estimated online by using adaptive technique, and then the robust fault-tolerant controller is designed to realize the state tracking error of follower in the aspects of uncertainty, disturbance, Nonlinear dynamics and the stability of the system in case of simultaneous failure, and a simulation example is given to verify the effectiveness of the proposed method. Finally, the asymptotic stability of the state tracking error of followers is guaranteed, that is, all the follower state trajectories can be tracked into the convex hull region formed by multiple pilots.