Failure-Factor-Based Fault-Tolerant Consensus for Multi-AUV Systems
This paper aimed to investigate the failure-factor-based fault-tolerant consensus problem for multiple Autonomous Underwater Vehicle(AUV)systems with directed topology.Firstly,according to the distribution charac-teristics of failures,a new partial failure model was established by introducing the fault factors.Furthermore,an error variable was given to transform the consensus problem into the stability problem.Based on the provided failure model,combined with algebraic graph theory and linear matrix inequality,a design method of the fault-tolerant controller was proposed,which realized the fault-tolerant consensus of faulty multi-AUV systems.Finally,the effectiveness of the proposed method was verified by a numerical simulation.
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万方数据
维普
