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对于具有延迟和位置限制的第一级和第二级多代理系统的分布式封闭控制
Wei Cui1, Ning Gao1, Yikang Yang1
1School of Electronic and Information Engineering, Xi'an Jiaotong University, Xi'an 710049, China.
ISA transactions
|November 14, 2024
概括
本研究提出了多代理系统的分布式控制策略,确保追随者保持在领导者定义的界限内,尽管存在延迟和不断变化的网络结构. 该方法保证在特定的通信条件下控制封闭.
科学领域:
- 控制理论 控制理论
- 网络化系统 网络化系统
- 机器人技术 机器人技术 机器人技术
背景情况:
- 多代理系统需要强大的控制策略来协调行为.
- 挑战包括位置限制,时间延迟和动态的通信网络.
研究的目的:
- 开发一级和二级多代理系统的离散时间封闭控制方案.
- 为了解决位置约束,非均时间延迟和切换拓学的复杂性.
主要方法:
- 利用投影操作员来执行代理位置约束.
- 采用模型转换和随机矩阵属性来管理来自约束和延迟的非线性.
- 设计基于投影的分布式控制,使用本地代理信息.
主要成果:
- 在领导国家凸的船体内实现追随者国家的融合.
- 在特定的通信拓条件下 (指向横跨树) 证明了封闭的理论保证.
- 通过数值模拟验证了控制方案.
结论:
- 提出的基于投影的分布式控制有效地解决了离散时间封闭控制问题.
- 这种方法对定位约束,时间延迟和切换拓学具有稳定性.
- 通过实践模拟示例证实了理论发现.
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