具有规定的性能的多代理系统的容错共识
IEEE transactions on cybernetics
|October 9, 2024
概括
这项研究解决了多代理系统 (MAS) 中的容错共识,其中存在未知的执行器故障和干扰. 新型自适应控制器确保了单个和双整合器代理的保证过渡性能.
科学领域:
- 控制工程 控制工程 控制工程
- 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:
- 多代理系统 (MAS) 面临来自未知的执行器故障和外部干扰的挑战.
- 为了确保MAS的可靠运行,实现可容错的共识,并保证过渡性性能至关重要.
- 现有的方法往往不能全面解决一般的时间变动执行器故障.
研究的目的:
- 调查MAS在未知时间变化的执行器故障 (加法和乘法) 和干扰下对故障耐受性的共识问题.
- 通过将邻近代理之间的位置错误划分,以保证短暂的性能.
- 开发适应性控制策略,用于故障和干扰的估计和补偿.
主要方法:
- 适应性规律的设计用于估计未知的变时执行器故障和干扰.
- 开发用于单集成器和双集成器MAS模型的耐故障控制器.
- 在故障条件下分析系统稳定性和性能极限.
主要成果:
- 对于添加式故障,控制器确保了对零共识错误的非对称收,并保证了短暂的性能.
- 对于组合的乘法和加法故障,控制器确保对剩余集的收,以保证过渡性能的性能.
- 拟议的适应方案有效地估计了故障和干扰,提高了系统的弹性.
结论:
- 开发的自适应性耐故障控制器成功地保证了复杂的执行器故障的MAS的短暂性能.
- 该研究为处理MAS共识中的一般时间变动执行器故障提供了一个新的框架.
- 模拟示例验证了拟议的控制策略的有效性.
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