非線形MIMOマルチエージェントシステムに対するモデルフリー・アダプティブ・フォールトレランス・フォーメーション・コントロール
IEEE transactions on cybernetics
|August 25, 2025
まとめ
この研究は,非線形マルチエージェントシステム (MAS) のモデルフリー・アダプティブ・フォールトレランス・フォーメーション・コントロール (MFAFTFC) スキームを導入する. 提案された方法は,形成目的を達成するためにアクチュエータの故障とチャネルの色を効果的に管理します.
科学分野:
- 制御システム工学
- ロボット
- 人工知能
背景:
- マルチエージェント・システム (MAS) は,アクチュエータの故障やチャネルフェーディングなどの課題に直面しています.
- これらの問題は,非線形連続時間複数入力複数出力 (MIMO) の形成制御を複雑にする.
研究 の 目的:
- MFAFTFC (アダプティブ・フォールトレランス・フォーメーション・コントロール) を開発する.
- 非線形連続時間MIMOMASにおけるアクチュエータの故障とチャネルフェーディングに対処する.
主な方法:
- サンプルデータフルフォーム・ダイナミック・リニアライゼーション (SD-FFDL) 技術を活用した.
- 統合されたデータベースの形成制御,曖昧なニューラルネットワーク (FNN),および投影アルゴリズム.
- MFAFTFC制度の厳格な安定性分析を行った.
主要な成果:
- 提案されたMFAFTFC制度は,形成制御の目標を達成しています.
- 無人陸上車 (UGV) とのシミュレーション比較によって有効性が実証された.
結論:
- MFAFTFCスキームは非線形連続時間MIMOMASに対して有効です.
- この方法は,アクチュエータの故障と形成制御の消えるチャネルを堅く処理します.
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