对于具有输入到输出冗余性和定向矩阵加权签名图的多个欧勒-拉格朗日系统的等级规定的时间双边共识
1School of Electrical Engineering and Automation, Hubei Normal University, Huangshi, 435002, China.
ISA transactions
|October 7, 2023
概括
本研究涉及对多重欧勒-拉格朗日系统 (MELS) 的规定的时间双边共识. 一个新的层次控制算法确保系统在用户定义的时间框架内达成共识,即使存在干扰.
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
- 系统工程 系统工程
背景情况:
- 多代理系统中的共识问题对于协调行为至关重要.
- 欧勒 - 拉格朗日系统是机械系统建模的基础.
- 在特定的时间框架内达成共识带来了重大控制挑战.
研究的目的:
- 为多个欧勒-拉格朗日系统 (MELS) 调查规定的时间双方共识问题.
- 制定一个控制策略,允许任意的收时间处方.
- 为了考虑系统的不确定性,外部干扰和输入到输出冗余.
主要方法:
- 提出了一种新的规定的时间层次控制 (PTHC) 算法.
- 使用利亚普诺夫稳定性分析来得出达成共识的足够条件.
- 使用指向矩阵加权的签名图表来建模系统相互作用.
主要成果:
- 拟议的PTHC算法使得对MELSs的规定时间双边共识成为可能.
- 建立了足够的条件,以便在特定时间内达成共识.
- 数字模拟验证了开发的控制策略的有效性和可行性.
结论:
- 该PTHC算法提供了对MELSs的收时间的精确控制.
- 该方法对外部干扰和不确定的动态条件具有稳定性.
- 这项工作为需要及时协调的现实世界工程应用提供了有价值的框架.
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