イベントトリガーの分散推定器と混乱観察器の両方の柔軟なティモシェンコ操作器のコンセンサス
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
まとめ
この研究は,柔軟なティモシェンコ操作剤 (FTMA) に対するイベント誘発コンセンサス制御を導入します. 柔軟な操作装置の振動を最小限に抑え,効率的な動きを実現します.
科学分野:
- ロボットと制御システム
- 機械工学
- 分散型システム
背景:
- 柔軟な操作器は振動に弱いので 精密な制御が難しくなります
- 既存の制御方法は,しばしば継続的な通信を必要とするため,高い帯域幅の使用につながります.
- 複数の柔軟な操作器の調整制御は大きな課題を提示しています.
研究 の 目的:
- 柔軟なティモシェンコ操作エージェント (FTMA) のためのイベント誘発コンセンサス制御戦略を開発する.
- マルチエージェントシステムにおける未知な乱れに対処し,時間変動のターゲット指示を推定する.
- 通信の負荷を軽減しながら,正確な調整制御と振動抑制を確保します.
主な方法:
- 知らない外部の乱れを推定するための乱れ観測器の設計.
- 時間を変化させるリーダーエージェントの指示を追跡するための分散評価器の開発.
- データ交換を最適化するためのイベントトリガー通信戦略の実施.
- コンセンサスの追跡のための観察者と推定者に基づく制御スキームの策定.
主要な成果:
- すべてのFTMAの間でコンセンサスを達成した.
- 柔軟な操縦器の振動を 最小限の範囲に 制圧しました
- イベントトリガード戦略によって コミュニケーションの負荷が減ったことが証明された.
- 数値シミュレーションで制御アプローチの有効性を検証した.
結論:
- 提案されたイベント誘発コンセンサス制御は 柔軟なティモシェンコ操作エージェントを効果的に管理します
- コミュニケーションを最適化しながら 協調した動きと振動の抑制を保証します
- このアプローチは,柔軟なロボットシステムのネットワーク制御のための堅牢なソリューションを提供します.
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