طراحی کنترل‌کننده جبران‌ساز عیب برای سیستم‌های چند‌عاملی دارای نا‌معینی

نوع مقاله: مقاله پژوهشی

نویسندگان

1 کارشناس ارشد، دانشکده مهندسی برق، واحد نجف آباد، دانشگاه آزاد اسلامی، نجف آباد، ایران

2 استادیار - دانشکده مهندسی برق، واحد نجف آباد، دانشگاه آزاد اسلامی، نجف آباد، ایران

چکیده

در این مقاله، طراحی کنترل‌کننده جبران‌ساز عیب برای سیستم‌های چند ‌عاملی غیر‌خطی مورد بررسی قرار گرفته است. دینامیک هر یک از عوامل، دارای نا‌معینی می‌باشد. در ضمن تبادل اطلاعات بین عوامل، تحت گراف جهت‌دار و ثابت صورت گرفته است. در این طراحی، از روش کنترل غیر‌خطی پسگام به منظور طراحی کنترل‌کننده غیر‌خطی استفاده شده است. با استفاده از روشکنترل تطبیقی، نا‌معینی‌های سیستم مورد بررسی بر‌اساس قوانین تطبیق تخمین زده شده است. برای غلبه بر اثرات نا‌مطلوب وقوع عیب در عملگر‌های سیستم، بدون اطلاع از زمان وقوع عیب ، نوع عیب و ساختار عیب، از روش جبران‌سازی تطبیقی عیب استفاده شده است. در نهایت با معرفی توابع لیاپانوف جدید و با استفاده از تئوری گراف، پایداری سیستم حلقه بسته به اثبات رسیده است. با ارائه مثال شبیه‌سازی شده، کارائی دیدگاه کنترلی ارائه شده برای سیستم‌های چند‌عاملی غیر-خطی دارای نا‌معینی وبا وجود عیب در عملگر‌ها و اغتشاشات خارجی نشان داده شده است.

کلیدواژه‌ها

موضوعات


عنوان مقاله [English]

Adaptive Fault Compensation Approach for Uncertain Multi Agent Systems

نویسندگان [English]

  • shohre sharifian 1
  • mahnaz hashemi 2
1 MSc - Department of Electrical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran
2 Assistant Professor- Department of Electrical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran
چکیده [English]

In this paper, the compensation controller approach is investigated for uncertain nonlinear multi agent systems. The dynamics of each of the agents includes uncertainties. Meanwhile, the exchange of the information between the agents is done under directed and fixed graphs. In this design, nonlinear control method is used to design nonlinear backstepping controller. The systems uncertainties are approximated by using the adaptive control method. To overcome the unpredictable effects of faults occurrence in the considered system actuators, Defective adaptive compensation method is used without any knowing about the fault time, fault type and fault structure. Finally, with the introduction of the new Lyapunov functions and by using the graph theory, the stability of the closed loop system is proved. By presenting a simulated example, the efficiency of the control view presented for nonlinear multi agent systems is shown in the presence of unknown faults in actuators and unknown external disturbances.

کلیدواژه‌ها [English]

  • Fault Compensation Controller
  • Adaptive controller
  • Nonlinear Multi Agent System
  • Directed Graph
  • Uncertainty

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