事件触发的多代理系统的有限时间形成跟踪,在切换拓下具有不匹配的干扰
Binghe An1, Huijin Fan1, Bo Wang1
1National Key Laboratory of Multispectral Information Intelligent Processing Technology, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, 430074, China.
ISA transactions
|June 4, 2024
概括
这项研究开发了一种强大的控制协议,用于具有交换拓和干扰的领导-追随多代理系统 (MAS). 拟议的方法确保了有限时间 (FT) 形成跟踪,提高了系统可靠性和资源效率.
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
- 分布式系统 分布式系统
背景情况:
- 领导者-追随者多代理系统 (MAS) 面临着切换拓和外部干扰的挑战.
- 现有的控制协议需要增强的稳定性来处理领导者和追随者动态中的不匹配和匹配的干扰.
- 准确估计领导者状态对于在动态环境中有效的形成跟踪至关重要.
研究的目的:
- 设计一个强大的分布式观察器,用于对领导代理的有限时间状态估计.
- 为MAS在交换拓和干扰下开发一个有限时间 (FT) 形成跟踪控制器.
- 提高MAS控制系统的稳定性和资源效率.
主要方法:
- 设计了一种创新的分布式观察器,用于有限时间领先状态估计,具有强大的术语.
- 一个新的两阶段分析方案,以证明在切换拓学下估计错误的有限时间趋同.
- 开发一个具有事件触发机制和多个强大的反条款来抑制干扰的FT控制器.
主要成果:
- 拟议的观察者可以在有限的时间内对领先状态进行估计,尽管存在未知的控制输入和干扰.
- 新型分析方案保证了在交换拓的存在下,估计错误的有限时间趋同.
- 事件触发的FT控制器有效地抑制匹配和不匹配的干扰,确保FT形成跟踪,节省资源.
结论:
- 开发的控制策略确保了MAS在具有切换拓的扰乱环境中的强大的有限时间形成跟踪.
- 事件触发机制有助于资源高效运行.
- 模拟结果验证了拟议的分布式观察员和FT控制算法的有效性.
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