适应性动态事件触发分布式输出观察器,用于指导图下的领导者-追随者多代理系统.
IEEE transactions on neural networks and learning systems
|September 15, 2023
概括
本研究通过开发一种新的自适应观察者和补偿器来解决多代理系统 (MAS) 中的领导者-追随者共识问题. 这种新方法避免了需要完整的领导系统知识,使其适用于现实世界的应用.
科学领域:
- 控制工程 控制工程 控制工程
- 系统科学 系统科学
- 机器人技术 机器人技术 机器人技术
背景情况:
- 领导者和追随者的共识对于多代理系统 (MAS) 是至关重要的.
- 现有的方法通常需要完整的领导系统信息,而这些信息并不总是可用.
- 实际应用只能提供领导者输出信息.
研究的目的:
- 为追随者开发适应式分布式动态事件触发观察器,以估计领导者系统属性.
- 设计一个可适应的动态事件触发补偿器,以仅使用领导的输出信息来实现领导和追随者的共识.
- 通过减少对先验领导系统知识的依赖来解决现有方法的局限性.
主要方法:
- 为每个追随者设计了一个新的自适应分布式动态事件触发观察者.
- 观察者学习的是领导系统矩阵的最小多项式系数,而不是整个矩阵.
- 开发了一个利用观察者和领导者输出数据的自适应动态事件触发补偿器.
主要成果:
- 建议的观察者和补偿者有效地解决了领导者-追随者共识问题.
- 该方法具有可扩展性,适用于大型多代理系统.
- 在观察者设计中减少了信息传输尺寸.
结论:
- 新的自适应观察者和补偿者方案成功实现了领导者-追随者共识.
- 这种方法对于只有领导者的输出可用的场景是实用的.
- 该方法为复杂的多代理系统提供了可扩展性和效率.
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