通过双终端事件触发机制,为单边的利普希茨多代理系统提供分布式领导者遵循的双边共识
Yanjun Zhao1, Haibin Sun1, Xiangyu Wang2
1School of Engineering, Qufu Normal University, Rizhao 276826, Shandong, PR China.
概括
本研究介绍了多代理系统的新型双终端事件触发控制策略,实现领导者遵循的双边共识,同时显著减少通信负载.
科学领域:
- 控制系统工程 控制系统工程
- 机器人技术 机器人技术 机器人技术
- 网络化系统 网络化系统
背景情况:
- 在多代理系统中达成共识对于协调任务至关重要.
- 事件触发的控制策略旨在减少通信开销.
- 双边共识要求代理人形成两个不同的群体,同时保持领导者遵循的行为.
研究的目的:
- 为单边的利普希茨多代理系统开发一个领导者遵循的双方共识控制方案.
- 用相对输出设计一个分布式观察器来使用相对输出进行状态估计.
- 提出双终端动态事件触发机制,以节约通信资源和防止Zeno行为.
主要方法:
- 一个分布式观察者在触发时刻使用相对输出信息来估计未知的状态.
- 建议使用事件触发的输出反控制器.
- 在传感器-观察器和控制器-执行器通道中实现了双端动态事件触发机制.
- 为了处理非线性,引入了一个通用的一面的利普希茨条件.
主要成果:
- 拟议的控制计划保证了领导者-追随者两党共识.
- 成功避免了Zeno的行为.
- 使用单链机器人操纵系统的有效性得到证明.
- 实现了显著的沟通资源减少 (61.22%和68.04%在各自的道).
结论:
- 双终端事件触发输出反控制方法在单边的利普希茨多代理系统中对领导者遵循的双边共识是有效的.
- 拟议的方法大大节省了通信资源.
- 该方案可以在机器人系统中实现双向轨迹跟踪.
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