对于具有任意的融合时间和规定的性能的二级多代理系统,领导者遵循输出反共识
Wenquan Gong1, Bo Li1, Yongsheng Yang1
1Institute of Logistics Science and Engineering, Shanghai Maritime University, Shanghai, 201306, China.
ISA transactions
|July 26, 2023
概括
本研究提出了一种新的方法,使多代理系统在设定的时间内达成共识,即使没有速度数据. 该方法确保可预测的性能,并处理诸如和和测量错误等常见的控制挑战.
科学领域:
- 控制理论 控制理论
- 机器人技术 机器人技术 机器人技术
- 网络化系统 网络化系统
背景情况:
- 多代理系统在实现协调行为方面经常面临挑战,尤其是在有限的传感器数据和预定义的时间框架等约束下.
- 现有的共识算法可能会在精确的融合时间上扎,或者处理现实世界的问题,例如测量噪声和执行器和.
研究的目的:
- 为缺乏速度测量的二级多代理系统开发一种新的规定的时间输出反共识策略.
- 为了实现离线预分配过渡性绩效指标,如收率和超标.
- 解决和解决因测量错误和执行器和而产生的奇点问题.
主要方法:
- 使用时间缩放函数来估计没有速度信息的代理状态的规定的时间状态观察器的设计.
- 关于领导者遵循共识的分布式输出反控制方案的建议.
- 实现零碎函数以减轻因测量错误引起的奇点问题.
- 用辅助系统修改控制策略,以管理执行器和.
主要成果:
- 通过新的规定的时间观察者成功估计了二次状态.
- 实现领导者跟随的共识,并预先分配过渡性绩效.
- 在控制策略中有效解决奇点问题和和问题.
- 通过数值模拟验证拟议的方案.
结论:
- 开发的输出反控制策略有效地在第二级多代理系统中实现了规定的时间领导者遵循共识.
- 该方法可稳定处理缺少速度测量,测量误差和执行器和的系统.
- 在需要可预测的系统动态的实际应用中,预先分配收率和超速率的能力提供了显著的优势.
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