集群形成跟踪网络乱机器人系统通过等级固定时间神经适应方法
Xionghua Liu1,2, Kai-Lun Huang3, Chang-Duo Liang4
1School of Computer Science and Automation, Wuhan Technology and Business University, Wuhan, 430065, China.
Scientific reports
|October 27, 2024
概括
这项研究引入了一种新的神经自适应控制算法,用于网络扰乱机器人系统,以实现固定的时间集群形成跟踪,尽管存在不确定性和扰乱. 该方法确保在保证的固定时间内准确地跟踪系统.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 人工智能的人工智能
- 网络化系统 网络化系统
背景情况:
- 网络扰乱机器人系统 (NPRS) 在集群形成跟踪 (CFT) 中面临挑战,原因是参数不确定性,外部扰乱和执行器死区.
- 现有的控制方法可能无法在固定的时间内保证收,这对于实时应用至关重要.
- 定向图形信息交互增加了分散控制策略的复杂性.
研究的目的:
- 开发一个层次的固定时间神经自适应控制算法,用于准确的CFT NPRSs.
- 尽管存在系统不确定性和外部干扰,但实现对集群形成跟踪的固定时间收.
- 确保机器人系统在复杂的网络环境中提供强大可靠的性能.
主要方法:
- 提出了一种新的等级固定时间神经适应控制算法.
- 设计了一个分布式观察算法,用于对虚拟领导者准确的固定时间状态估计.
- 在一个等级框架内开发了一个神经适应性固定时间控制器,利用利亚普诺夫稳定性分析.
主要成果:
- 拟议的算法成功实现了NPRSs的固定时间集群形成跟踪.
- 根据Lyapunov的论证,我们得出了足够的时间稳定的条件.
- 数字模拟验证了控制策略对不确定性和扰动的有效性和稳定性.
结论:
- 新的层次固定时间神经适应控制方法有效地解决了NPRS的CFT问题.
- 该方法保证了固定时间的趋同,并在存在重大系统挑战时证明了稳定性.
- 经验证的结果证实了在先进的机器人系统中实际实施的潜力.
相关概念视频
01:24One-Degree-of-Freedom System
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
01:18Hierarchy of Motor Control
The hierarchy of motor control refers to the different levels of organization and processing involved in controlling movement in the body. These levels range from higher cortical areas involved in planning and decision-making to lower spinal cord reflexes that respond automatically to external stimuli.
01:24Sequence Networks of Rotating Machines
A Y-connected synchronous generator, grounded through a neutral impedance, is designed to produce balanced internal phase voltages with only positive-sequence components. The generator's sequence networks include a source voltage that is exclusively in the positive-sequence network. The sequence components of line-to-ground voltages at the generator terminals illustrate this configuration.
Zero-sequence current induces a voltage drop across the generator's neutral impedance and other...
Zero-sequence current induces a voltage drop across the generator's neutral impedance and other...