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        Study on the Sliding Mode Fault Tolerant Predictive Control Based on Multi Agent Particle Swarm Optimization

        Pu Yang,Ruicheng Guo,Xu Pan,Tao Li 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.5

        For a class of uncertain discrete-time systems with time varying delay, the problem of robust faulttolerantcontrol for such systems is studied by combining the design of sliding mode control (SMC) and modelpredictive control (MPC). A sliding mode fault tolerant predictive control based on multi agent particle swarmoptimization (PSO) is presented, and the design, analysis and proof of the scheme are given in detail. Firstly,the sliding mode prediction model of the system is designed by assigning poles of the output error of the system. The model has time varying characteristics, and it can improve the motion quality of the system while ensuringthe sliding mode is stable. Secondly, a new discrete reference trajectory considering time-delay systems subjectedsimultaneously to parameter perturbations and disturbances is proposed, which not only can ensure that the stateof the system has good robustness and fast convergence in the process of approaching sliding mode surface, butalso can inhibit chattering phenomenon. Thirdly, the multi agent PSO improves the receding-horizon optimization,which can quickly and accurately solve the control laws satisfying the input constraints, and can effectively avoidfalling into local extrema problem of the traditional PSO. Finally, the theoretical proof of robust stability of theproposed control scheme is given. Experimental results of quad-rotor helicopter semi physical simulation platformshow that the state of uncertain discrete-time systems with time varying delay is stable under the action of theproposed control scheme in this paper. The advantages of fast response, less overshoot and small control chatteringprove the feasibility and effectiveness of the proposed control scheme.

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