使用自触发分布式模型预测控制的线性多代理系统的动态共识
Resmi R1, Mija S J2, Jeevamma Jacob2
1TKM College of Engineering, Kollam, 691005, India.
ISA transactions
|August 4, 2023
概括
本研究介绍了分布式模型预测控制 (DMPC) 的自触发算法,以改善多代理系统 (MAS) 中的动态共识. 这种新的方法减少了能源消耗和通信负载,延长了系统的寿命.
科学领域:
- 控制系统工程 控制系统工程
- 机器人技术 机器人技术 机器人技术
- 分布式计算 (Distributed Computing) 是一种分布式计算.
背景情况:
- 多代理系统 (MAS) 中的传统共识算法由于代计算和通信而导致高能耗和缩短寿命.
- 现有的方法通常在分布式控制中扎着计算复杂性和通信开销.
研究的目的:
- 开发使用分布式模型预测控制 (DMPC) 的自触发算法,以在线性MAS中实现动态共识.
- 与传统的DMPC和共识算法相比,减少计算复杂性和通信负载.
主要方法:
- 一个连续的自触发共识算法,每个代理确定自己的触发时刻.
- 一个基于Laguerre函数的DMPC设计,以尽量减少计算复杂性.
- 使用Lyapunov标准和终端状态等级约束来进行闭环稳定性分析.
主要成果:
- 拟议的自触发DMPC算法优化了控制输入和触发间隔,确保了动态共识.
- 在控制器计算和代理间数据传输方面实现了显著的减少.
- 基于Laguerre的控制架构有效地管理额外的计算,而不会压力控制器.
结论:
- 新的自动触发DMPC方案通过减少计算和通信负担,提高了MAS的效率并延长了MAS的寿命.
- 该算法保证了线性MAS中的动态共识和闭环稳定性.
- 车辆排队的模拟证明了拟议方法的实际适用性和有效性.
相关概念视频
01:21Distributed Loads: Problem Solving
670
Beams are structural elements commonly employed in engineering applications requiring different load-carrying capacities. The first step in analyzing a beam under a distributed load is to simplify the problem by dividing the load into smaller regions, which allows one to consider each region separately and calculate the magnitude of the equivalent resultant load acting on each portion of the beam. The magnitude of the equivalent resultant load for each region can be determined by calculating...
670
01:17Open and closed-loop control systems
804
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
804
01:07Time-Domain Interpretation of PD Control
141
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
Consider the example of control of motor torque. Initially, a positive...
141
01:19PID Controller
144
Proportional-Integral-Derivative (PID) controllers are widely used in various control systems to enhance stability and performance. In a thermostat, it adjusts heating or cooling based on the temperature difference between the actual and desired levels. They are often used in automotive speed systems, effectively managing sudden speed changes while maintaining a constant speed under varying conditions. On the other hand, PI controllers, commonly employed in voltage regulation, enhance stability...
144
01:26Feedback control systems
344
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
344
01:21Control System Problem
144
In an open-loop system, such as a basic thermostat, the poles of the transfer function influence the system's response but do not determine its stability. However, when feedback is introduced to form a closed-loop system, such as an advanced thermostat that adjusts heating based on room temperature, stability is governed by the new poles of the closed-loop transfer function.
When forming a closed-loop system, issues can arise if the poles cross into the unstable region, leading to potential...
When forming a closed-loop system, issues can arise if the poles cross into the unstable region, leading to potential...
144