| 引用本文: | 王康宇,李建宁,陈扬杰,张帆,熊举.基于DEMATEL-ANP的回溯容错控制[J].控制理论与应用,2024,41(10):1853~1862.[点击复制] |
| WANG Kang-yu,LI Jian-ning,CHEN Yang-jie,ZHANG Fan,XIONG Ju.DEMATEL-ANP based retrospective fault-tolerant control[J].Control Theory and Technology,2024,41(10):1853~1862.[点击复制] |
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| 基于DEMATEL-ANP的回溯容错控制 |
| DEMATEL-ANP based retrospective fault-tolerant control |
| 摘要点击 3136 全文点击 46 投稿时间：2022-08-31 修订日期：2024-06-05 |
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| DOI编号 10.7641/CTA.2023.20768 |
| 2024,41(10):1853-1862 |
| 中文关键词 多水下机器人系统 DEMATEL-ANP方法 容错控制 时变时延 切换拓扑 |
| 英文关键词 multiple AUVs DEMATEL-ANP method fault-tolerant control time-varying delay topology switching |
| 基金项目 浙江省自然科学基金重点项目(LZ22F030008), 国家自然科学基金重点项目(61733009), 浙江省属高校基本科研业务费专项资金(GK2299092990 01–012)资助. |
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| 中文摘要 |
| 本文针对一类具有拓扑结构切换、时变时延及执行器故障的多水下机器人系统, 开展了一类基于决策实验室–网络层次分析法(DEMATEL-ANP)的回溯容错控制方法研究. 首先, 利用故障历史信息, 结合DEMATEL-ANP溯源故障分布特性, 提出溯源故障分布因子, 基于此构造了一类满足分布特性随机故障模型. 其次, 将拓扑结构切换问题转化为一类拓扑结构不确定性问题, 结合所提随机故障模型, 构造Lyapunov-Krasovskii函数, 得到回溯容错控制器的设计方法, 实现了拓扑结构切换下故障多水下机器人系统的容错一致性. 最后, 通过数值仿真验证了所提方法的有效性. |
| 英文摘要 |
| In this paper, a retrospective fault-tolerant control method is developed for a class of multiple autonomous underwater vehicle (AUV) systems with topology switching, time-varying delay and actuator failure. Firstly, using the fault history information and the decision making trial and evaluation laboratory-analysis network process (DEMATEL-ANP) algorithm, we propose a retrospective fault distribution factor and construct a stochastic fault model based on it to satisfy the distribution properties. Furthermore, the topology switching problem is transformed into a class of topology uncertainty problems, and the proposed stochastic fault model is combined with the Lyapunov-Krasovskii function to obtain the design method of the retrospective fault-tolerant controller, which achieves the fault-tolerance consensus of the underwater robot system with topology switching. Finally, the effectiveness of the proposed method is verified by a numerical simulation. |
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