Research On Fault-Tolerant Consensus For Multi-AUV Systems Based On Fault Factor

Multiple Autonomous Underwater Vehicle(AUV)systems collaboration is widely used in the fields of seabed resource detection and underwater target search.The shortcomings of AUV capabilities,with its advantages of high parallelism,scalability,and fault-tolerant,have become a hot research topic for scholars.The performance of multi-AUV systems is easily affected by factors such as communication delay and topology switching,so it has practical application value for multiple underwater vehicle systems to achieve fault-tolerant consensus under the influence of faults and external complex environments.This paper conducts research through tools such as stability analysis,DEMATEL-ANP method,T-S fuzzy theory and linear matrix inequality method.The main contents are as follows:(1)The safety and reliability of AUV in the process of operation is studied based on DEMATEL-ANP method.Firstly,the reliability evaluation index system is established according to the distribution characteristics of the system structure of the AUV;secondly,the indicators at all levels of the system are sorted and calculated by the DEMATEL method to obtain the total impact matrix,and the ANP method is used for standardization to obtain the mixed weight of all indicators.Finally,the key indicators are obtained by sorting the normalized mixed weights,which lays the foundation for the establishment of the fault distribution model in the subsequent chapters.(2)The fault-tolerant consensus of a class of faulty multi-AUV system with fixed topology is considered.Firstly,the distribution characteristics of traceable faults are obtained by the DEMATEL-ANP method,and the distribution factor of traceable faults is proposed to construct a novel partial failure fault model;secondly,a fault-tolerant control algorithm is designed to ensure that the multi-AUV system can realize faulttolerant consensus.(3)The fault-tolerant consensus problem of multi-AUV system with topology switching and time-varying delay is studied.Firstly,the switching topology is modeled as a kind of topology uncertainty which satisfies the norm bounded condition.Secondly,the traceability fault distribution characteristic is obtained by DEMATEL-ANP method,and the traceability fault distribution factor is proposed and the fault model is established.By constructing the Lyapunov-Krasovskii function and designing the backtracking fault-tolerant controller,the fault-tolerant consensus of the fault multiAUV system with topology switching and time-varying delay is realized.(4)The fault-tolerant consensus problem of nonlinear multi-AUV systems with partial execution faults is studied.Firstly,the nonlinear multi-AUV system with time delay is modeled as a kind of T-S model system.Secondly,combined with the traceability fault distribution factor,the design method of fuzzy backtracking faulttolerant controller is proposed,which realizes the fault-tolerant consensus of fault nonlinear multi-AUV system with time delay.