DEMATEL-ANP based retrospective fault-tolerant control
WANG Kang-yu
LI Jian-ning
CHEN Yang-jie
ZHANG Fan
XIONG Ju
Abstract：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.
Keywords：multiple AUVsDEMATEL-ANP methodfault-tolerant controltime-varying delaytopology switching
Publication Date：2024-10-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：10( 1853-1862 )