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在事件触发通信下对非线性MAS进行合作追踪控制
IEEE transactions on cybernetics
|August 23, 2023
概括
本研究引入了一种新的方法,用于在间歇通信的非线性多代理系统 (MAS) 中进行合作跟踪. 该方法确保稳定的跟踪和局限的系统信号,即使没有连续的数据交换.
科学领域:
- 控制系统工程 控制系统工程
- 人工智能的人工智能
- 机器人技术 机器人技术 机器人技术
背景情况:
- 在非线性多代理系统 (MAS) 中的合作跟踪对于协调行为至关重要.
- 由于信号不连续性,标准的自适应后退方法在不连续的通信中失败.
- 在MAS中事件触发的通信对传统的控制设计提出了挑战.
研究的目的:
- 开发一个强大的控制策略,用于在非线性MAS中进行合作跟踪,并进行事件触发通信.
- 克服现有的后退方法中持续通信要求的局限性.
- 在分散的MAS中增强跟踪性能和信号局限性.
主要方法:
- 一个分层设计,结合分布式合作估计器和基于神经网络的分散控制器.
- 引入一个动态事件触发机制,用于参数估计.
- 使用插值多项式方法创建高阶导数的平滑估计器,以后退可用性.
- 设计一个基于后退的去中心化神经网络跟踪控制器.
主要成果:
- 拟议的方法确保了跟踪错误的非对称收.
- 闭环系统中的所有信号都被证明是有界的.
- 与现有的MAS事件触发通信方法相比,实现了优异的非对称追踪性能.
- 被认为是非线性MAS的更一般的类别.
结论:
- 开发的层次结构方案有效地解决了与不连续通信的非线性MAS中的合作跟踪问题.
- 整合流估计器和神经网络控制器保证了系统的稳定性和性能.
- 该方法为多代理系统中事件触发控制提供了显著的进步.
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