一个新的最佳分布式策略,用于在大型机器人群中进行时间变化的形成跟踪控制
Vahid Rezaei1, Esmaeel Khanmirza2
1School of Mechanical Engineering, Iran University of Science and Technology, Narmak, Tehran, 1684613114, Iran.
Scientific reports
|May 20, 2025
概括
本研究介绍了领导者-追随者系统的完全分布式形成算法. 这种新的算法有效地处理动态通信重量,并调整形成参数以进行可适应的控制.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制理论 控制理论
- 分布式系统 分布式系统
背景情况:
- 领导者-追随者系统经常使用固定通信拓.
- 现有的形成算法与时间变化和负通信权重作斗争.
- 对于现实世界的应用,形成参数 (如尺寸和方向) 的适应性至关重要.
研究的目的:
- 为领导者-追随者系统开发一个完全分布的最佳时间变化的形成算法.
- 设计一个控制策略,尽量减少控制的努力,并确保快速融合.
- 为了能够持续调整形成参数 (方向,心心,尺度).
主要方法:
- 提出了一个全新的完全分布的最佳时间变化的形成算法.
- 该算法适应线性二阶动态和具有不确定权重的动态通信拓.
- 虚拟领导者为追随者提供轨迹,旋转速度和规模信息.
主要成果:
- 该算法证明了对时间变化和负通信权重的稳定性.
- 通过最小化控制力度,可以实现对所需阵列的快速融合.
- 控制器是完全分布式的,不需要通信拓的固有值,使其可扩展.
结论:
- 拟议的算法为时间变化的形成控制提供了灵活和可适应的解决方案.
- 它的分布性和稳定性使它适合大型商业系统.
- 数字模拟验证了算法的有效性,以实现所需的构造.
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