离散时间线性多代理系统的完全分布的共识,具有很大的输入和通信延迟
相关实验视频
Updated: Jun 23, 2025

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The HoneyComb Paradigm for Research on Collective Human Behavior
Published on: January 19, 2019
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Lixuan Zhang1, Kai Zhang2, Bin Zhou2
1Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin, 150001, China.
ISA transactions
|June 22, 2024
概括
本研究介绍了一种新的分布式协议,用于解决具有显著时间延迟的离散时间领导者遵循多代理系统中的共识问题. 该协议确保了可靠的共识,即使有很大的,有限的延迟和可适应的通信拓.
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:
- 达成共识的问题对于协调多代理系统至关重要.
- 长时间的延迟在达成共识方面带来了重大挑战.
- 现有的协议通常需要全球拓信息,限制了稳定性.
研究的目的:
- 开发一种新的,完全分布式的协议,用于离散时间的领导者跟随的多代理系统.
- 在大而有限的时间延迟下解决共识问题.
- 为了增强对通信拓变化的稳定性.
主要方法:
- 一个使用正常化权重矩阵的新型分布式协议.
- 该协议仅依赖于相对输出测量.
- 分析考虑了恒定,已知的输入和通信延迟,以及时间变化的输入延迟.
主要成果:
- 尽管有很长的时间延迟,但拟议的议定书有效地实现了共识.
- 协议的完整版本和截断版本都得到了验证.
- 该方法对定向通信拓学的变化具有稳定性.
结论:
- 开发的协议为具有显著时间延迟的多代理系统的共识提供了强大的解决方案.
- 依赖本地信息提高了实际适用性.
- 数字示例证实了该协议的有效性.
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