Research On Fault Tolerance/Attack Tolerance Control Based On Homogeneous/Heterogeneous Multi-agent Systems

Multi agent system(MAS)fault-tolerant and attack-tolerant is an important research topic of intelligent manufacturing field.Due to the distributed characteristics of multi-agent that can be used in multi-scenes and independently complete different tasks,MAS has promoted the rapid development in the industrial field.However,the MAS is subject to factors such as strong coupling,complex structure and communication constraints between multi-agent nodes.In view of this,aiming at homogeneous and heterogeneous MAS,the active fault-tolerant for homogeneous system and the attack-tolerant for heterogeneous system is studied,respectively.Finally the system tends to uniformly asymptotical stability.The main contents are as follows:1)The active fault-tolerant control problem of leaderless MAS with directed topology under actuator fault and the external finite energy disturbance is studied.Firstly,by establishing a closed-loop system based on intermediate variable observer,the fault information of the system is estimated,which lays the foundation for the subsequent active fault tolerance.Then,the compensation controller is designed,and the reconstruction design of the control is completed by using the estimated fault information.Finally,MAS can maintain excellent control performance when the actuator has time-varying faults and has a certain inhibitory effect on the external finite energy disturbance.2)For the leader-follower MAS with directional topology with actuator additive faults and multiplicative faults,the adaptive active fault-tolerant control based on distributed event triggering mechanism is studied.Firstly,a closed-loop system model integrating the actuator fault and distributed event trigger scheme of the following multi-agent is established.Then,according to the control idea of adaptive technology,the corresponding adaptive fault-tolerant control law is designed to realize the adaptive faulttolerant control of the system for the actuator fault,so that the tracking error of the follower and the leader is close to zero,that is,the closed-loop system error equation tends to be uniformly asymptotically stable.At the same time,the distributed event trigger Scheme is introduced to filter the data information transmitted on the network to achieve the purpose of saving network resources.3)For the heterogeneous MAS model of the first-order virtual leader and the second-order follower with deception network attacks,the consistency control problem of the system is studied.Firstly,an eventtriggered transmission scheme is proposed to reduce the number of network transmissions under the premise of ensuring system control performance.Secondly,based on the Bernoulli distributed random network deception attack,a closed-loop system model integrating distributed discrete event trigger scheme and deception attack is established.Through the time delay generated by data transmission between agents when the wireless network is spoofing,the corresponding intrusion tolerant controller is designed.Finally,the consensus control of heterogeneous MAS is transformed into the stability problem of closed-loop system with time-varying delay,and the sufficient conditions for the intrusion tolerant consensus control of heterogeneous MAS are obtained.