Globally Cooperative Fault Diagnosis And Fault-tolerant Control For Multi-robot System

With the development of modern science and technology, the scale of modern industrial system becomes more and more huge, the structure of modern industrial system becomes more and more complex and the integration degree gets more and more high. Once fault occurs in these systems, they will cause casualties and property losses. Traditional fault tolerant control methods are based on single subsystem which can finish system self-repair. However, once the fault system can't repair itself or the repair has a long delay, traditional fault tolerant control approaches will lose effectiveness. New fault tolerant control methods for complex system which contain multiple subsystems need to be proposed.This paper studies globally cooperative fault diagnosis and fault-tolerant control for multi-robot system. We put the link robot system model as research object, in which the nonlinear term of the one meet with Lipschitz condition. We use adaptive observer methods to diagnosis fault which is step function fault types, and stability is analyzed. Simulation results show that the method can timely diagnose system fault and can keep the system stability, and applicable to such nonlinear system fault diagnosis problem.New active fault-tolerant control thought has been proposed for a cooperative system containing multiple subsystems in this thesis. When fault happen in a subsystem, we reconfigure the controller of the fault-free subsystem according to the fault information and the output target. The influence of the faulty subsystem on the control target can be compensated and the fault tolerant control of the whole cooperative system can be realized. Simulation results show the effectiveness of the new fault tolerant control method.The agent thought is introduced into the fault-tolerant control process. Each subsystem of the cooperative system can be seen as an agent unit. Based the new fault-tolerant control method, we use the intelligence of the agent system to optimize fault-tolerant control process, in which the influence of the faulty subsystems on the whole control target can be compensated. Simulation results show that the combination of the new fault-tolerant control method and the agent system characteristic can optimize the fault-tolerant control process of the whole cooperative system.