分布式干扰基于观察者的非脆弱的双边共识,对具有多个时间变化的延迟的非线性多元代理系统进行了分析
Zhen Tang1, Ziyang Zhen2, Zhengen Zhao2
1Faculty of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China; ESAT-ELECTA, Katholieke Universiteit Leuven, Leuven B-3001, Belgium.
ISA transactions
|May 26, 2024
概括
这项研究开发了非线性多元代理系统的干扰观察器,以延迟实现非脆弱的双边共识. 新的方法确保在没有领导者和跟随领导者的系统中稳定和拒绝干扰.
科学领域:
- 控制理论 控制理论
- 网络化系统 网络化系统
- 机器人技术 机器人技术 机器人技术
背景情况:
- 多代理系统 (MAS) 面临着非线性动态,时间延迟和外部干扰的挑战.
- 在MAS中达成共识 (协议) 对于协调任务至关重要,但由于系统不确定性和通信滞后而复杂化.
- 非脆弱的控制对于保持系统性能至关重要,尽管观察者收益的扰动.
研究的目的:
- 在非线性延迟多剂系统中研究分布式干扰的基于观察者的非脆弱双方共识.
- 设计控制协议,确保共识,同时补偿外部干扰和观察者获得不确定性.
- 为复杂的多代理系统制定不那么保守的共识标准.
主要方法:
- 开发分布式的非脆弱干扰观察器,以估计外部干扰和观察者获取干扰.
- 构建分布式控制协议,包括状态,估计的干扰和通信延迟.
- 制定新的增强的利亚普诺夫-克拉索夫斯基函数和应用先进的数学技术 (贝塞尔-莱根德尔积分不等式,互凸组合,自由重量矩阵).
主要成果:
- 拟议的控制协议保证了对非线性延迟多代理系统的非脆弱的双边共识.
- 这些方法有效地抑制外部干扰,并容忍控制收益的不确定性.
- 为了达成双边共识,制定了新的,不那么保守的标准.
结论:
- 该研究成功地解决了复杂的多代理系统中的非脆弱的双边共识,具有非线性和非均的延迟.
- 开发的干扰观察器和控制协议提供了针对干扰和不确定性的强大性能.
- 数字模拟验证了在没有领导者和领导者遵循的场景中建议方法的有效性.
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