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Consenso de manipuladores flexibles de Timoshenko con observadores de perturbaciones y estimadores distribuidos
1State Key Laboratory of Information Photonics and Optical Communications, Beijing University of Posts and Telecommunications, Xitucheng Road No. 10, Haidian, Beijing, 100876, PR China.
ISA transactions
|August 21, 2025
Resumen
Este estudio introduce el control de consenso desencadenado por eventos para los agentes manipuladores flexibles de Timoshenko (FTMA). El enfoque logra efectivamente el movimiento coordinado y minimiza las vibraciones en los manipuladores flexibles.
Área de la Ciencia:
- Robótica y sistemas de control
- Ingeniería mecánica
- Sistemas distribuidos
Sus antecedentes:
- Los manipuladores flexibles son propensos a las vibraciones, lo que complica el control preciso.
- Los métodos de control existentes a menudo requieren una comunicación continua, lo que lleva a un alto uso del ancho de banda.
- El control coordinado de múltiples manipuladores flexibles presenta desafíos significativos.
Objetivo del estudio:
- Desarrollar una estrategia de control de consenso desencadenada por eventos para los agentes manipuladores flexibles de Timoshenko (FTMA).
- Para abordar perturbaciones desconocidas y estimar las instrucciones objetivo que varían en el tiempo en un sistema multi-agente.
- Reducir la carga de comunicación al tiempo que se garantiza un control coordinado preciso y la supresión de las vibraciones.
Principales métodos:
- Diseño de observadores de perturbaciones para estimar perturbaciones externas desconocidas.
- Desarrollo de estimadores distribuidos para el seguimiento de las instrucciones del agente líder que varían en el tiempo.
- Implementación de una estrategia de comunicación desencadenada por eventos para optimizar el intercambio de datos.
- Formulación de un esquema de control basado en observadores y estimadores para el seguimiento del consenso.
Principales resultados:
- Se ha logrado un seguimiento consensuado de los ángulos conjuntos entre todas las FTMA.
- Con éxito se limitaron las vibraciones de los manipuladores flexibles a un rango mínimo.
- Se ha demostrado una reducción de la carga de comunicación a través de la estrategia desencadenada por eventos.
- Validación de la eficacia del método de control mediante simulaciones numéricas.
Conclusiones:
- El control de consenso desencadenado por eventos propuesto gestiona efectivamente los agentes manipuladores flexibles de Timoshenko.
- La estrategia asegura el movimiento coordinado y la supresión de vibraciones al tiempo que optimiza la comunicación.
- Este enfoque ofrece una solución robusta para el control en red de sistemas robóticos flexibles.
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