非线性多个代理系统的基于规定的时间网络的部署:一个离散空间PDE方法.
IEEE transactions on cybernetics
|April 2, 2024
概括
本研究设计了在一定的时间内为非线性多代理系统 (MAS) 进行时间变化的部署. 这种新的方法将MAS部署转化为稳定离散空间部分微分方程 (PDEs),确保及时的系统配置.
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 (MAS) 需要协调的部署策略.
- 现有的方法经常在非线性系统的规定的时间趋同方面扎.
- 现实世界的代理人分布本质上是离散的.
研究的目的:
- 为一级和二级非线性MAS设计规定的时间变化的部署方案.
- 开发基于离散空间部分微分方程 (PDEs) 的控制器.
- 确保在用户定义的时间框架内完成部署.
主要方法:
- 制定部署作为稳定离散空间PDE系统.
- 通过通信网络利用关于相对和绝对位置/速度的信息.
- 引入基于空间变量的静态反控制器.
- 使用虚拟代理应用迪里克莱特和诺曼边界条件.
主要成果:
- 为保证规定的时间趋同的衍生代数不等式标准.
- 成功地将MAS部署转化为离散空间PDE稳定.
- 通过两个数值示例证明了有效性.
- 针对离散代理分布的连续空间PDE模型的局限性.
结论:
- 拟议的离散空间PDE方法有效地实现了对非线性MAS的规定的时间部署.
- 该方法与现有的连续空间PDE技术相比,提供了一个新的视角.
- 这些发现通过数值模拟得到验证,证实了实际应用.
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