| In recent years,along with the rapid development of the communication technology industry,multi-intelligent body systems have a lot of room for development in different fields,and experts in related fields have applied their research methods to the coherence problems of multi-intelligent body systems in a wide range of disciplines such as biology,physics and engineering,such as formation control of multi-robot systems,cooperative control of multi-unmanned submersible vehicles,autonomous formation vehicles and animal aggregation behavior The analysis of aggregation behavior of animals,etc.However,the impact of actuator failure and external disturbances in the operation of multi-intelligent systems cannot be ignored.Once the actuator fails or is disturbed by external disturbances,the control laws designed under ideal actuator conditions cannot be fully executed and the whole task will face failure,thus limiting the application of multiintelligent systems in various scenarios.In order to be more realistic,the problem of anti-jamming performance and fault-tolerant control of the multi-intelligent body system will be the key of this paper,considering the actuator failures and external disturbances that exist in real situations.The main work is as follows:The problem of simultaneous fault-tolerant control and disturbance suppression for a multiintelligent body system with polynomial faults is first studied.Based on the leader-following multiintelligent body system,a polynomial form of faults and external disturbances are added to the system by combining it with practice,and the effects caused by the faults and external disturbances are reduced by designing a fault estimation observer and a fault-tolerant controller.The observer is designed with both fault and disturbance estimates to obtain the error system,and the controller is designed with both fault and disturbance terms,which are then combined with the previously designed observer to form a new closed-loop system,which is then analyzed by applying Lyapunov stability theory to achieve global stability.Finally,a numerical model simulation of a spacecraft is used to verify that the method used is valid,ensuring consistency between the follower and the leader in the presence of external disturbances and faults.Secondly,the problem of consensus control and disturbance suppression for multi-intelligent systems based on degraded observers is investigated.Based on the leader-following multiintelligent system,the influence from external disturbances is reduced by designing a reducedorder estimation observer and controller by taking into account the external disturbances of the system in combination with the actual situation.In the reduced-order observer,the error term obtained is no longer the deviation of the output variables in the system,but becomes the deviation of the unknown state variables,which is simplified by the reduced order compared to the full-order observer and is simpler to compute.In the design of the controller,the disturbance term is processed first,and then the dynamic equations of the system containing the control law and the observer are combined to form a new closed-loop system,which is then analyzed by applying Lyapunov stability theory to achieve global stability.Finally,the effectiveness of the used method is verified by two numerical arithmetic simulation,which guarantees the consistency between the follower and the leader under the disturbance of external perturbations. |
