ABSTRACT

In this paper, the collaborative control of multiple nonlinear Euler-Lagrange systems with actuator faults and stochastic semi-Markov jump networks (SMJNs) is concerned. In order to fulfil high reliability and low consumption, several novel event-triggered fault-tolerant control (ETFTC) algorithms are established to simultaneously eliminate the undesirable faults and save control resources, where only quantised partial-state signal of neighbours is required for the control process. Moreover, some ubiquitous constraints, such as unknown control directions and time-varying communication delays, are also comprehensively considered and effectively excluded so as to further enhance the control reliability. Meanwhile, some sufficient criteria on the algorithm synthesis and stability analysis without involving Zeno behaviour are successfully built with the aid of Lyapunov–Krasovskii functional. Finally, some illustrative simulations are performed to validate the feasibility and effectiveness of the derived ETFTC algorithms.

摘要

本文研究了具有执行器故障和随机半马尔可夫跳跃网络（SMJNs）的多个非线性欧拉-拉格朗日系统的协同控制。为了实现高可靠性和低功耗，建立了几种新颖的事件触发容错控制（ETFTC）算法，以同时消除不良故障并节省控制资源，其中只需要量化的邻居部分状态信号进行控制过程。此外，还综合考虑并有效排除了一些普遍存在的约束，如未知的控制方向和时变的通信延迟，以进一步提高控制的可靠性。同时，在 Lyapunov-Krasovskii 泛函的帮助下，成功地建立了一些不涉及 Zeno 行为的算法综合和稳定性分析的充分标准。最后，进行了一些说明性模拟，以验证衍生的 ETFTC 算法的可行性和有效性。