CN112327622A - Consistency fault-tolerant control method for neutral buoyancy robot - Google Patents

Consistency fault-tolerant control method for neutral buoyancy robot Download PDF

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CN112327622A
CN112327622A CN202011205721.8A CN202011205721A CN112327622A CN 112327622 A CN112327622 A CN 112327622A CN 202011205721 A CN202011205721 A CN 202011205721A CN 112327622 A CN112327622 A CN 112327622A
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CN112327622B (en
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袁源
王英杰
朱战霞
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Northwestern Polytechnical University
Shenzhen Institute of Northwestern Polytechnical University
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Shenzhen Institute of Northwestern Polytechnical University
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Abstract

The invention discloses a consistency fault-tolerant control method for a neutral buoyancy robot, provides a parameter adjusting method according to a linear matrix inequality, and belongs to the field of robot control; firstly, establishing a neutral buoyancy robot system model under an inertial coordinate system; then establishing a multi-neutral buoyancy robot information interaction model into a directed topology model, and giving important assumptions of the interaction model; on the basis of the two, a distributed adaptive disturbance observer is designed to estimate a consistency error state and unknown disturbance in real time, and an actuator error adaptive estimation method is provided; finally, a fault-tolerant controller is designed according to the distributed adaptive disturbance observer, and consistency and strong robustness of the multi-neutral buoyancy robot system are guaranteed. The invention combines the characteristics of the neutral buoyancy robot model, and the designed control strategy has good control performance and is suitable for engineering application.

Description

Consistency fault-tolerant control method for neutral buoyancy robot
Technical Field
The invention belongs to the technical field of neutral buoyancy robots, and particularly relates to a consistency fault-tolerant control method of a neutral buoyancy robot.
Background
Since the cost is high when the real-time experiment verification is carried out by utilizing the space environment, the microgravity environment simulation experiment carried out by the ground verification space technology becomes an alternative solution. In the research of microgravity environment simulation experiments, the research of applying a neutral buoyancy system to carry out the simulation experiments in the microgravity environment is receiving more and more extensive attention at home and abroad. As research progresses, simulated space tasks become more complex, and a single neutral buoyancy robot cannot well complete the tasks. In order to better simulate the space operation task, a scene that a plurality of neutral buoyancy robots cooperatively complete complex tasks needs to be considered. In addition, the coupling in the neutral buoyancy robot system and the influence of the viscous resistance of water are typical non-linear systems, and the condition that the actuator is wrong needs to be considered due to the complex environment. In order to realize the cooperative work of the multi-neutral-buoyancy robot, the designed distributed attitude control algorithm still can well realize the consistency control of the multi-neutral-buoyancy robot under the condition that various uncertainties exist.
At present, due to the fact that the limitation of a fault-tolerant control algorithm is large, the fault-tolerant control strategy can be designed based on a self-adaptive method only when the state of a local neutral buoyancy robot system is known, and in addition, the traditional self-adaptive control strategy needs system disturbance to be accurately known, which cannot be achieved in actual situations. For the neutral buoyancy robot with strong coupling, strong nonlinearity and space external disturbance, the robust performance of the system is improved, and the consideration of actuator errors and the realization of cooperative work are very important; in order to solve the problem of actuator errors and compensate system uncertainty in real time, a fault-tolerant control method based on a distributed adaptive disturbance observer is adopted.
Disclosure of Invention
The invention aims to provide a consistency fault-tolerant control method for a neutral buoyancy robot, which aims to solve the problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
a consistency fault-tolerant control method for a neutral buoyancy robot comprises the following steps:
step 1, establishing a neutral buoyancy robot attitude kinematics and dynamics model under an inertial coordinate system;
step 2, establishing a multi-neutral buoyancy robot information interaction model;
step 3, constructing a distributed adaptive disturbance observer, providing a parameter adjusting method of the distributed adaptive disturbance observer, and adjusting parameters of the disturbance observer by solving a linear matrix inequality;
step 4, designing a self-adaptive fault-tolerant controller, providing a fault-tolerant controller parameter adjusting method, and adjusting controller parameters by solving a linear matrix inequality;
step 5, completing a control strategy of consistency of the multi-neutral buoyancy robot;
the construction of the distributed adaptive disturbance observer mainly comprises the following steps: firstly, defining the consistency error of the local neighbor of the ith follower neutral buoyancy robot as
Figure BDA0002757023140000021
Considering the kinematics and the dynamic equation second-order equation of the neutral buoyancy robot, constructing an adaptive disturbance observer for estimating the system actuator error and the environment external disturbance:
Figure BDA0002757023140000022
Figure BDA0002757023140000023
wherein, betai2And betai3For observer gain, ρ > 1 is a positive constant, zi2And zi3Is observer state estimation of the consistency error of the multi-neutral buoyancy robot,
Figure BDA0002757023140000024
for actuator errorsIs determined by the estimated value of (c),
Figure BDA0002757023140000025
to the adaptation law, kiFor the output value of the filter and the filter is designed as follows
Figure BDA0002757023140000026
Law of adaptation
Figure BDA0002757023140000027
Is designed as follows
Figure BDA0002757023140000031
Wherein the content of the first and second substances,
Figure BDA0002757023140000032
the parameter adjustment method of the distributed adaptive disturbance observer is given below, and parameters of the disturbance observer can be adjusted by solving the following linear matrix inequality, so that the disturbance observer achieves a good estimation effect.
Figure BDA0002757023140000033
In the formula (I), the compound is shown in the specification,
Figure BDA0002757023140000034
denotes the kronecker product, INIs an N-dimensional identity matrix, Pi＝Si -1Is a positive definite symmetric matrix, J is a diagonal matrix and satisfies J ═ T-1LT, wherein T-1Is a non-singular matrix, WiIs a positive-definite parameter which is,
Figure BDA0002757023140000035
further, step 1 specifically includes:
a dynamics and kinematics model of the underwater six-degree-of-freedom robot;
Figure BDA0002757023140000036
Figure BDA0002757023140000037
wherein M isRBRepresenting the body inertia matrix, CRBRepresenting the Kerio force matrix of the body, MAMRepresenting the water flow medium inertia matrix, C, associated with the bodyAMRepresenting the body-related Corio force matrix of the aqueous flow medium, Dr(vr(t)) v (t) is the viscous drag, g (η (t)) is the negative buoyancy; tau isc(t)＝θiτi(t) represents a control torque; thetaiRepresents an actuator failure factor; tau isi(t) denotes the ith robot control input; j (η (t)) represents a Jacobian matrix; eta (t), v (t) and vr(t)＝v(t)-vc(t) respectively representing the position and velocity of the body in a body coordinate system and the generalized velocity of the fluid in the body coordinate system, vc(t) is the speed of the water flow in the body coordinate system;
suppose that:
1. water velocity v in body coordinate systemcBeing slowly time-varying, i.e. vc(t)≈0；
2.vcThe velocity v relative to the underwater robot is a small quantity, and is approximately C (v (t)) v (t) approximately equal to C (v)r(t))vr(t)；
Equation (1) is simplified to the form:
Figure BDA0002757023140000041
wherein M is MRB+MAM，C(v(t))＝CRB+CAM
Finally, the equation of motion under the inertial system is obtained:
Figure BDA0002757023140000042
in the formula (I), the compound is shown in the specification,
M*＝J-T(η(t))MJ-1(η(t))
Figure BDA0002757023140000043
D*(v(t),η(t))＝J-T(η(t))D(v(t))J-1(η(t))
g*(η(t))＝J-T(η(t))g(η(t))
wherein D*(v(t),η(t))v(t),g*And (η (t)) is an unknown term.
Further, step 2 specifically includes:
firstly, considering N +1 neutral buoyancy robots, regarding i-0 as a leader neutral buoyancy robot, and regarding i-1, 2.., and N as a follower neutral buoyancy robot; assume leader neutral buoyancy robot State
Figure BDA0002757023140000044
Is bounded; neutral buoyancy robot information interaction model established as directed topology
Figure BDA0002757023140000045
Wherein
Figure BDA0002757023140000046
Representing a set of respective neutral buoyancy robots;
Figure BDA0002757023140000047
represents the set of all transmissions; the adjacency matrix of the follower is defined as
Figure BDA0002757023140000048
Wherein, the posture information of the following neutral buoyancy robot is directly transmitted to the neutral buoyancy machineWhen a person is i, ail> 0, otherwise, ail0 and is adjoined by a matrix diagonal element aii＝0；NiRepresenting the set of all the received neighbor neutral buoyancy robots of the neutral buoyancy robot i; defining the Laplace matrix as L ═ Lil]∈RN×NWherein, when i ═ l,
Figure BDA0002757023140000049
when i ≠ L, Lil＝-ail(ii) a When the neutral buoyancy robot i can directly receive the posture information of the leader, bi> 0, otherwise, bi0; definition matrix
Figure BDA00027570231400000410
It is assumed that each follower neutrally buoyant robot can receive information directly or indirectly from the leader neutrally buoyant robot.
Further, step 4 specifically includes:
according to the obtained adaptive function
Figure BDA00027570231400000411
The following fault-tolerant controller is designed:
Figure BDA00027570231400000412
in the formula, ki1,ki2Is the controller gain, zi3(t) unknown disturbance information observed by a disturbance observer is used for compensating uncertainty and changed external disturbance inside the system in real time;
the method for adjusting the parameters of the fault-tolerant controller is given below, and the parameters of the controller are adjusted by solving the following linear matrix inequality;
Figure BDA0002757023140000051
wherein the content of the first and second substances,
Figure BDA0002757023140000052
is a positive definite symmetric matrix, BiAnd DiIs defined as follows
Figure BDA0002757023140000053
Further, step 5 specifically includes:
finally obtaining the control moment tauiAnd (t) carrying out control in a neutral buoyancy robot system model (4) under an inertial coordinate system, respectively designing a distributed adaptive disturbance observer and a fault-tolerant controller for the neutral buoyancy robot according to a control strategy, and controlling the neutral buoyancy robot so as to enable the multiple neutral buoyancy robots to achieve consistency.
Compared with the prior art, the invention has the following technical effects:
the invention provides a distributed adaptive disturbance observer-based multi-neutral buoyancy robot fault-tolerant control method, which comprises the steps of designing a distributed adaptive disturbance observer aiming at a neutral buoyancy robot by establishing a neutral buoyancy robot system model under an inertial coordinate system, and providing parameters of the disturbance observer by solving a linear matrix inequality; the fault-tolerant controller is designed to control the neutral buoyancy robot, the uncertainty of the system is compensated in real time, the robustness of a control algorithm is strong, higher control precision can be obtained, and engineering implementation is facilitated. The invention provides a distributed adaptive disturbance observer, and the parameters of the distributed adaptive disturbance observer are adjusted simply by solving the linear matrix inequality, and the error estimation of an actuator is realized only by using the relative state, so that the engineering is convenient to realize;
the adaptive fault-tolerant controller is designed, so that the consistency result is obtained, meanwhile, the continuity of the error estimation value of the actuator to the control input is realized, and the robustness of the system is improved;
based on a distributed control strategy, the information interaction of the multi-neutral buoyancy robot under the directed topology is realized, the information transmission is reduced, and the application scene of the multi-neutral buoyancy robot is greatly expanded.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
referring to fig. 1, a consistency fault-tolerant control method for a neutral buoyancy robot includes:
the first step is as follows: establishing neutral buoyancy robot attitude kinematics and dynamics model under inertial coordinate system
Consider the underwater six-degree-of-freedom robot dynamics and kinematics model of equations (1) - (2).
Figure BDA0002757023140000061
Figure BDA0002757023140000062
Wherein M isRBRepresenting the body inertia matrix, CRBRepresenting the Kerio force matrix of the body, MAMRepresenting the water flow medium inertia matrix, C, associated with the bodyAMRepresenting the body-related Corio force matrix of the aqueous flow medium, Dr(vr(t)) v (t) is the viscous drag, g (η (t)) is the negative buoyancy; tau isc(t) represents a control torque; j (η (t)) represents a Jacobian matrix; eta (t), v (t) and vr(t)＝v(t)-vc(t) respectively representing the position and velocity of the body in a body coordinate system and the generalized velocity of the fluid in the body coordinate system, vcAnd (t) is the speed of the water flow under the body coordinate system.
For ease of design, the following assumptions are generally made:
1. water velocity v in body coordinate systemcBeing slowly time-varying, i.e. vc(t)≈0；
2.vcThe velocity v relative to the underwater robot is a small quantity, and is approximately C (v (t)) v (t) approximately equal to C (v)r(t))vr(t)。
Equation (1) is simplified to the form:
Figure BDA0002757023140000063
wherein M is MRB+MAM，C(v(t))＝CRB+CAM
Finally, the equation of motion under the inertial system is obtained:
Figure BDA0002757023140000064
in the formula:
M*＝J-T(η(t))MJ-1(η(t))
Figure BDA0002757023140000065
D*(v(t),η(t))＝J-T(η(t))D(v(t))J-1(η(t))
g*(η(t))＝J-T(η(t))g(η(t))
wherein D*(v(t),η(t))v(t),g*And (η (t)) is an unknown term.
The relevant parameters are defined as follows:
rB＝[xB,yB,zB]T＝[0,0,0]T，rG＝[xG,yG,zG]T＝[0,0,0.05]T，m＝125，
Figure BDA0002757023140000071
Figure BDA0002757023140000072
Figure BDA0002757023140000073
Figure BDA0002757023140000074
Figure BDA0002757023140000075
wherein x isB，yBAnd zBIs the floating center coordinate, xG，yGAnd zGRepresenting coordinates of the centroid, m representing mass, I0Is a matrix of moments of inertia, v1＝[μυω]TAnd v2＝[p q r]TIs the translational and angular velocity components of the velocity v (t), CAMAnd CRBRespectively, the coriolis matrix and the coriolis matrix that the motion of the fluid being discharged has.
The second step is that: establishing multi-spacecraft information interaction model
First we consider N +1 neutrally buoyant robots, we consider i-0 as the leader neutrally buoyant robot and i-1, 2. Here we assume leader neutral buoyancy robot states
Figure BDA0002757023140000081
Is bounded. The information interaction model of the neutral buoyancy robot can be established into a directed topology
Figure BDA0002757023140000082
Wherein
Figure BDA0002757023140000083
Representing a collection of respective neutral buoyancy robots.
Figure BDA0002757023140000084
Representing the set of all transmissions. The adjacency matrix of the follower is defined as
Figure BDA0002757023140000085
Wherein the content of the first and second substances,when the posture information of the follower neutral buoyancy robot is directly transmitted to the neutral buoyancy robot i, ail> 0, otherwise, ail0 and is adjoined by a matrix diagonal element aii＝0。NiRepresenting the set of all receivable neighboring neutrally buoyant robots of neutrally buoyant robot i. We define the laplacian matrix as L ═ Lil]∈RN×NWherein, when i ═ l,
Figure BDA0002757023140000086
when i ≠ L, Lil＝-ail. When the neutral buoyancy robot i can directly receive the posture information of the leader, bi> 0, otherwise, bi0. We define a matrix
Figure BDA0002757023140000087
Here, we assume that each follower neutrally buoyant robot can receive information of the leader neutrally buoyant robot, either directly or indirectly.
In this example, consider 4 neutrally buoyant robots, one of which is the leader signal, and the remaining 3 are follower neutrally buoyant robots. The relevant topological parameters are given below
Figure BDA0002757023140000088
The third step: constructing a distributed adaptive disturbance observer
Firstly, defining the consistency error of the local neighbor of the ith follower neutral buoyancy robot as
Figure BDA0002757023140000089
Considering the kinematics and the dynamic equation second-order equation of the neutral buoyancy robot, constructing an adaptive disturbance observer for estimating the system actuator error and the environment external disturbance:
Figure BDA00027570231400000810
Figure BDA00027570231400000811
wherein, betai2And betai3For observer gain, ρ > 1 is a positive constant, zi2And zi3Is observer state estimation of the consistency error of the multi-neutral buoyancy robot,
Figure BDA00027570231400000812
is an estimate of the error of the actuator,
Figure BDA00027570231400000813
to the adaptation law, kiFor the output value of the filter and the filter is designed as follows
Figure BDA0002757023140000091
Law of adaptation
Figure BDA0002757023140000092
Is designed as follows
Figure BDA0002757023140000093
Wherein the content of the first and second substances,
Figure BDA0002757023140000094
the parameter adjustment method of the three-order distributed self-adaptive fault-tolerant disturbance observer is given below, and parameters of the disturbance observer can be adjusted by solving the following linear matrix inequality, so that the disturbance observer achieves a good estimation effect.
Figure BDA0002757023140000095
In the formula (I), the compound is shown in the specification,
Figure BDA0002757023140000096
denotes the kronecker product, INIs an N-dimensional identity matrix, Pi＝Si -1Is a positive definite symmetric matrix, J is a diagonal matrix and satisfies J ═ T-1LT, wherein T-1Is a non-singular matrix, WiIs a positive-definite parameter which is,
Figure BDA0002757023140000097
in the present example, ρ ═ 1.5, βi1,βi2,βi3The values of (A) are as follows:
βi2＝diag{100 100 300 200 300 150}
βi3＝diag{100 100 200 100 200 200}
the fourth step: design adaptive fault tolerant controller
For processing, we consider using an adaptive fault-tolerant control algorithm to reach the multiple neutral buoyancy robot consistency conclusion.
According to the obtained adaptive function
Figure BDA0002757023140000098
The following fault-tolerant controller is designed:
Figure BDA0002757023140000099
in the formula, ki1,ki2Is the controller gain, zi3And (t) unknown disturbance information observed by a disturbance observer is used for compensating uncertainty and changed external disturbance inside the system in real time.
The method for adjusting the parameters of the fault-tolerant controller is given out below, and the parameters of the controller can be adjusted by solving the following linear matrix inequality, so that the multi-neutral buoyancy robot system obtains a good control effect.
Figure BDA0002757023140000101
Wherein the content of the first and second substances,
Figure BDA0002757023140000103
is a positive definite symmetric matrix, BiAnd DiIs defined as follows
Figure BDA0002757023140000102
In this example, the parameter K is adjustablei＝[ki1,ki2]The values of (A) are as follows:
Ki＝[15 15]。
the fifth step: control strategy for achieving consistency of multi-neutral buoyancy robot
Finally obtaining the control moment tauiAnd (t) carrying out control in a neutral buoyancy robot system model (4) under an inertial coordinate system, respectively designing a distributed adaptive disturbance observer and a fault-tolerant controller for the neutral buoyancy robot according to a control strategy, and controlling the neutral buoyancy robot so as to enable the multiple neutral buoyancy robots to achieve consistency.
The invention is not described in detail and is part of the common general knowledge of a person skilled in the art.

Claims (5)

1. A consistency fault-tolerant control method for a neutral buoyancy robot is characterized by comprising the following steps:
step 1, establishing a neutral buoyancy robot attitude kinematics and dynamics model under an inertial coordinate system;
step 2, establishing a multi-neutral buoyancy robot information interaction model;
step 3, constructing a distributed adaptive disturbance observer, providing a parameter adjusting method of the distributed adaptive disturbance observer, and adjusting parameters of the disturbance observer by solving a linear matrix inequality;
step 4, designing a self-adaptive fault-tolerant controller, providing a fault-tolerant controller parameter adjusting method, and adjusting controller parameters by solving a linear matrix inequality;
step 5, completing a control strategy of consistency of the multi-neutral buoyancy robot;
the construction of the distributed adaptive disturbance observer mainly comprises the following steps: firstly, defining the consistency error of the local neighbor of the ith follower neutral buoyancy robot as
Figure FDA0002757023130000011
Considering the kinematics and the dynamic equation second-order equation of the neutral buoyancy robot, constructing an adaptive disturbance observer for estimating the system actuator error and the environment external disturbance:
Figure FDA0002757023130000012
Figure FDA0002757023130000013
wherein, betai2And betai3For observer gain, ρ > 1 is a positive constant, zi2And zi3Is observer state estimation of the consistency error of the multi-neutral buoyancy robot,
Figure FDA0002757023130000014
is an estimate of the error of the actuator,
Figure FDA0002757023130000015
to the adaptation law, kiFor the output value of the filter and the filter is designed as follows
Figure FDA0002757023130000016
Law of adaptation
Figure FDA0002757023130000017
Is designed as follows
Figure FDA0002757023130000021
Wherein the content of the first and second substances,
Figure FDA0002757023130000022
the parameter adjustment method of the distributed adaptive disturbance observer is given below, and parameters of the disturbance observer can be adjusted by solving the following linear matrix inequality, so that the disturbance observer achieves a good estimation effect;
Figure FDA0002757023130000023
in the formula (I), the compound is shown in the specification,
Figure FDA0002757023130000024
denotes the kronecker product, INIs an N-dimensional identity matrix, Pi＝Si -1Is a positive definite symmetric matrix, J is a diagonal matrix and satisfies J ═ T-1LT, wherein T-1Is a non-singular matrix, WiIs a positive-definite parameter which is,
Figure FDA0002757023130000025
2. the consistency fault-tolerant control method of the neutral buoyancy robot according to claim 1, wherein the step 1 specifically comprises:
a dynamics and kinematics model of the underwater six-degree-of-freedom robot;
Figure FDA0002757023130000026
Figure FDA0002757023130000027
wherein M isRBRepresenting the body inertia matrix, CRBRepresenting the Kerio force matrix of the body, MAMRepresenting the water flow medium inertia matrix, C, associated with the bodyAMRepresenting the body-related Corio force matrix of the aqueous flow medium, Dr(vr(t)) v (t) is the viscous drag, g (η (t)) is the negative buoyancy; tau isc(t)＝θiτi(t) represents a control torque; thetaiRepresents an actuator failure factor; tau isi(t) denotes the ith robot control input; j (η (t)) represents a Jacobian matrix; eta (t), v (t) and vr(t)＝v(t)-vc(t) respectively representing the position and velocity of the body in a body coordinate system and the generalized velocity of the fluid in the body coordinate system, vc(t) is the speed of the water flow in the body coordinate system;
suppose that:
1. water velocity v in body coordinate systemcBeing slowly time-varying, i.e. vc(t)≈0；
2.vcThe velocity v relative to the underwater robot is a small quantity, and is approximately C (v (t)) v (t) approximately equal to C (v)r(t))vr(t)；
Equation (1) is simplified to the form:
Figure FDA0002757023130000031
wherein M is MRB+MAM，C(v(t))＝CRB+CAM
Finally, the equation of motion under the inertial system is obtained:
Figure FDA0002757023130000032
in the formula (I), the compound is shown in the specification,
M*＝J-T(η(t))MJ-1(η(t))
Figure FDA0002757023130000033
D*(v(t),η(t))＝J-T(η(t))D(v(t))J-1(η(t))
g*(η(t))＝J-T(η(t))g(η(t))
wherein D*(v(t),η(t))v(t),g*And (η (t)) is an unknown term.
3. The consistency fault-tolerant control method of the neutral buoyancy robot according to claim 1, wherein the step 2 specifically comprises:
firstly, considering N +1 neutral buoyancy robots, regarding i-0 as a leader neutral buoyancy robot, and regarding i-1, 2.., and N as a follower neutral buoyancy robot; assume leader neutral buoyancy robot State η0,
Figure FDA0002757023130000034
Is bounded; neutral buoyancy robot information interaction model established as directed topology
Figure FDA0002757023130000035
Wherein
Figure FDA0002757023130000036
Representing a set of respective neutral buoyancy robots;
Figure FDA0002757023130000037
represents the set of all transmissions; the adjacency matrix of the follower is defined as
Figure FDA0002757023130000038
Wherein when followingWhen the posture information of the neutral buoyancy robot is directly transmitted to the neutral buoyancy robot i, ail> 0, otherwise, ail0 and is adjoined by a matrix diagonal element aii＝0；NiRepresenting the set of all the received neighbor neutral buoyancy robots of the neutral buoyancy robot i; defining the Laplace matrix as L ═ Lil]∈RN×NWherein, when i ═ l,
Figure FDA00027570231300000311
when i ≠ L, Lil＝-ail(ii) a When the neutral buoyancy robot i can directly receive the posture information of the leader, bi> 0, otherwise, bi0; definition matrix
Figure FDA00027570231300000310
It is assumed that each follower neutrally buoyant robot can receive information directly or indirectly from the leader neutrally buoyant robot.
4. The consistency fault-tolerant control method of the neutral buoyancy robot according to claim 1, wherein the step 4 specifically comprises:
according to the obtained adaptive function
Figure FDA0002757023130000041
The following fault-tolerant controller is designed:
Figure FDA0002757023130000042
in the formula, ki1,ki2Is the controller gain, zi3(t) unknown disturbance information observed by a disturbance observer is used for compensating uncertainty and changed external disturbance inside the system in real time;
the method for adjusting the parameters of the fault-tolerant controller is given below, and the parameters of the controller are adjusted by solving the following linear matrix inequality;
Figure FDA0002757023130000043
wherein the content of the first and second substances,
Figure FDA0002757023130000044
is a positive definite symmetric matrix, BiAnd DiIs defined as follows
Bi＝[0,I6]T,
Figure FDA0002757023130000045
5. The consistency fault-tolerant control method of the neutral buoyancy robot according to claim 1, wherein the step 5 specifically comprises:
finally obtaining the control moment tauiAnd (t) carrying out control in a neutral buoyancy robot system model (4) under an inertial coordinate system, respectively designing a distributed adaptive disturbance observer and a fault-tolerant controller for the neutral buoyancy robot according to a control strategy, and controlling the neutral buoyancy robot so as to enable the multiple neutral buoyancy robots to achieve consistency.
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