中文摘要：

针对具有切换拓扑结构的多智能体系统,研究基于模型依赖平均驻留时间的多智能体系统的执行器故障估计问题。基于相对输出估计误差,为多智能体系统设计观测器,并由此建立全局动态误差方程。考虑拓扑结构变化和存在干扰的情况,基于切换系统稳定性理论和故障诊断理论,利用模型依赖平均驻留时间方法,分析给出观测器存在条件及参数设计判据,通过适当的故障估计算法,得到故障估计误差指数收敛且满足H∞性能的充分条件,并以线性矩阵不等式的形式给出。对多智能体系统进行仿真验证,结果表明所提出方法的正确性和有效性。

英文摘要：

This paper concerns with the actuator fault estimation of linear multi-agent systems with switching topologies by means of mode-dependent average dwell time. Using relative output estimation error, the observer and the global estimation error dynamics were constructed. Switching topologies and the existence of disturbance were taken into consideration. Based on the stability theory of the switched systems and fault diagnosis theory, the existence conditions of the observer and the design criterion of the parameters were given via the mode-dependent average dwell time method. Using the appropriate fault estimation algorithm the sufficient condition for the global fault estimation error system to achieve exponential stability and H∞ performance was given by linear matrix inequalities. An example was given to verify the effectiveness of the proposed method.