完全由事件触发的实用领导者 - 遵循多个欧勒-拉格朗日系统在交换网络上的共识
IEEE transactions on cybernetics
|September 17, 2024
概括
一项新的控制法解决了在不确定的欧勒-拉格朗日系统中使用事件触发观察者和自适应控制的领袖-追随者共识问题. 这种方法避免了Zeno现象的实际数字化实施.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 网络化系统 网络化系统
背景情况:
- 领导者遵循的共识对于协调控制多代理系统至关重要.
- 欧勒-拉格朗日系统的不确定性和通信限制带来了重大挑战.
- 现有的方法往往需要持续的沟通或缺乏完整的事件触发.
研究的目的:
- 开发一个完全由事件触发的适应式分布式控制法,用于领导者遵循的共识.
- 在联合连接的交换网络下解决不确定欧勒-拉格朗日系统中的问题.
- 通过尽量减少沟通,使数字平台上的实际实施成为可能.
主要方法:
- 基于事件触发的输出分布式观察器 (OBDO) 的设计,用于领先状态估计.
- 开发一个完全由事件触发的自适应控制规律.
- 分析以确保排除Zeno现象并限制稳定状态共识错误.
- 使用一组双链操纵器进行演示.
主要成果:
- 提出了一个全新的完全事件触发的自适应分布式控制法.
- 控制法有效地使用OBDO在联合连接的交换网络上估计了领导者的状态.
- 成功避免了Zeno现象,并且尽量减少了共识错误.
- 控制法只依赖领导者的输出是一个关键优势.
结论:
- 开发的控制策略为领导者在不确定的系统中遵循共识提供了有效和实用的解决方案.
- 完全由事件触发的性质提高了数字控制环境中的适用性.
- 该方法提供了对系统不确定性和网络动态的稳定性.
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