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Control de formación adaptativo y tolerante a fallos sin modelo para sistemas multiagente MIMO no lineales sobre
IEEE transactions on cybernetics
|August 25, 2025
Resumen
Este estudio introduce un esquema de control de formación adaptativo y tolerante a fallas (MFAFTFC) para sistemas multiagentes no lineales (MAS). El método propuesto gestiona eficazmente las fallas del actuador y el desvanecimiento del canal para alcanzar los objetivos de formación.
Área de la Ciencia:
- Ingeniería de sistemas de control
- La robótica
- Inteligencia artificial
Sus antecedentes:
- Los sistemas multiagente (MAS) se enfrentan a desafíos como fallas en los actuadores y desvanecimiento de canales.
- Estos problemas complican el control de la formación de múltiples entradas y salidas (MIMO) en tiempo continuo no lineal.
Objetivo del estudio:
- Desarrollar un esquema de control de formación adaptativo y tolerante a fallas (MFAFTFC) sin modelos.
- Para abordar las fallas del actuador y el desvanecimiento del canal en MAS MIMO de tiempo continuo no lineal.
Principales métodos:
- Se utilizó la tecnología de linearización dinámica de forma completa (SD-FFDL) de los datos muestreados.
- Control de formación basado en datos integrados, red neuronal difusa (FNN) y algoritmos de proyección.
- Además, la Comisión considera que el régimen de la MFAFTFC es compatible con el mercado interior en el sentido del artículo 107, apartado 1, del TFUE.
Principales resultados:
- El régimen propuesto de MFAFTFC logra con éxito los objetivos de control de la formación.
- Efectividad demostrada mediante comparaciones de simulación con vehículos terrestres no tripulados (UGV).
Conclusiones:
- El sistema MFAFTFC es efectivo para los MAS MIMO de tiempo continuo no lineal.
- El método maneja de manera robusta las fallas del actuador y los canales de desvanecimiento en el control de la formación.
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