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强大的形成跟踪控制非合作的异质多剂体系统
IEEE transactions on cybernetics
|October 9, 2024
概括
本研究涉及异质多剂体系统的强有力的形成跟踪. 一个新的分布式观察器和控制器有效地管理不确定性和未知的输入,确保准确的形成控制.
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
- 分布式系统 分布式系统
背景情况:
- 研究非合作性异质多剂体系统 (MAS) 中的强大的形成跟踪问题 (FTP).
- 解决异质代理参数,状态维度和领导代理未知的外部输入所带来的挑战.
- 考虑影响后续代理的不确定性和干扰.
研究的目的:
- 为非合作性异质多剂体系统开发一个强大的形成跟踪控制方法.
- 设计一个分布式扩展状态观察器,能够估计领导者的状态和未知的外部输入.
- 为了确保可以将训练跟踪错误最小化到所需的水平.
主要方法:
- 分布式扩展状态观察员的设计,以估计领导状态和外部输入.
- 关于针对异质多剂系统的强有力的形成跟踪控制策略的建议.
- 通过数值模拟和硬件在循环 (HITL) 模拟进行验证.
主要成果:
- 建议的分布式扩展状态观察器成功估计了领导者的状态和未知的外部输入.
- 强大的形成跟踪控制方法可以大大减少输出形成跟踪错误.
- 控制系统在最大限度地减少追踪错误的有效性,追踪错误到源地周围的一个小社区.
结论:
- 开发的分布式观察器和强大的控制器对非合作的异质多代理系统有效.
- 提出的方法为在不确定性和未知的输入下实现准确的形成跟踪提供了可行的解决方案.
- 模拟结果证实了拟议方法的实际适用性和性能.
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