Cooperative Fault-tolerant Control Of Flight Control Systems Based On Multi-Agent Technology

Multi-agent systems are a set of interactive intelligent systems in a network environment that can solve problems that are difficult or impossible for individual systems to solve through multi-agent technology.Through the multi-agent system,the problems of cooperative control and formation control of the flight control system can be studied.The reliability of the flight control system is the basis for ensuring the safe flight of the drone.In the actual flight process,the flight control system is affected by its operating environment,that is,the system will inevitably fail.In this paper,in the case of flight control system failure,based on multi-agent technology,an effective fault-tolerant control strategy is designed to ensure that the aircraft can still achieve coordinated flight under fault conditions.Firstly,this paper triggers on the research background and significance of the subject,and briefly expounds the basic knowledge and research status of fault-tolerant control,and summarizes the research status of multi-agent technology and multi-agent fault-tolerant control technology.The model of the aircraft system used in this paper is briefly introduced,and the corresponding coordinate system and coordinate system transformation are given.Secondly,for the multi-agent system in the sense of undirected topology,the finite-time cooperative fault-tolerant control is studied.Under the premise of the existence of actuator failure in individual nodes in multi-agent system,the multi-agent cooperative fault-tolerant control strategy based on finite-time technology is studied.First,a leader is set in the multi-agent system,and the follower's controller is designed based on the information of the adjacent node to enable the system to achieve cooperative fault-tolerant control within a prescribed time from the moment of failure.Through the relevant knowledge in the graph theory,the dynamics of each node are integrated into a global dynamic error equation,and theoretical verification is carried out.The method overcomes the shortcomings of the non-finite-time closed-loop control system and improves the robustness and anti-disturbance of the multi-agent system.Thirdly,according to the multi-agent technology,the problem of formation fault-tolerant control of the quadrotor is further studied.The quadrotor aircraft model is divided into two parts: the position subsystem and the attitude subsystem.For the position subsystem,the information of the adjacent aircraft is used to construct the corresponding reference formation controller,and the required value of the attitude subsystem is calculated according to the reference value.Expected tracking values.Considering the occurrence of actuator failure in the attitude subsystem,the adaptive mechanism and boundary layer theory are used to construct the fault-tolerant control scheme,so that the attitude subsystem can still achieve tracking control in absence of actuator fault.Finally,further consideration is given to external disturbances that may occur in the quadrotor aircraft position subsystem.Based on the method of active fault-tolerant control,the formation control research is carried out.The output information of the state observer is used to design the controller,and the fault compensation is performed by fast adaptive fault observer.The convergence of the formation error is studied under the premise of ensuring the performance.The theoretical results show that the formation error of the multi-agent system can be asymptotically converged under the above conditions,and the fast adaptive fault observer can accurately predict the actual value of fault.