事件触发的代学习控制用于输出受约束的多代理系统.
Wei Cao1, Huanhuan Li1, Jinjie Qiao2
1College of Computer and Control Engineering, Qiqihar University, Qiqihar, China.
PloS one
|March 21, 2025
概括
本研究介绍了非线性多代理系统的事件触发控制策略,使得共识跟踪与减少通信. 该方法确保了准确的跟踪,而无需持续的数据交换,从而提高了效率.
科学领域:
- 控制系统工程 控制系统工程
- 机器人和自动化机器人与自动化
- 网络化系统 网络化系统
背景情况:
- 多代理系统需要强大的控制策略来协调任务.
- 输出约束和非线性动态在离散时间系统中带来了重大挑战.
- 事件触发通信可以减少网络负载,但需要谨慎设计.
研究的目的:
- 开发一个事件触发的代学习共识跟踪控制策略.
- 解决非线性离散时间多代理系统中的输出约束.
- 为了减少通信频率,同时保持跟踪性能.
主要方法:
- 为系统动态开发了一个估计的伪部分导数 (PPD) 算法.
- 使用估计的PPD设计了一个输出观察器.
- 基于输出估计错误实现了一个死带控制器和事件触发条件.
- 构建了一个事件触发的代学习控制算法,并使用Lyapunov函数分析了它的融合.
主要成果:
- 拟议的策略使得对输出受约束的非线性离散时间多代理系统的共识追踪成为可能.
- 事件触发方法通过仅在必要时激活,显著降低了通信需求.
- 控制算法确保了对所需轨迹的一致和完整跟踪.
- 模拟结果验证了开发的控制协议的有效性.
结论:
- 事件触发的代学习共识跟踪控制策略对具有输出约束的非线性离散时间多代理系统有效.
- 拟议的方法实现了高跟踪性能,并减少了通讯开销.
- 该战略为提高多代理系统效率提供了一个实际的解决方案.
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