在交换拓下,未知非线性多代理系统的低复杂度分布式规定的性能控制.
IEEE transactions on cybernetics
|May 26, 2025
概括
本研究为异质非线性多元代理系统提出了一种新的分布式强大的输出反控制策略. 它实现了快速,准确的领导跟随同步,尽管未知的动态和切换通信拓.
科学领域:
- 控制理论 控制理论
- 机器人技术 机器人技术 机器人技术
- 系统工程 系统工程
背景情况:
- 对于多代理系统来说,领导后续控制至关重要.
- 具有未知的动态和切换拓的异质非线性系统带来了重大的控制挑战.
- 在这些条件下,现有的分布式控制解决方案往往是不可行的.
研究的目的:
- 为异质非线性多代理系统开发一个分布式强大的输出反规定的性能控制策略.
- 为应对未知代理动态,定向和切换通信图形以及有限的相对输出测量所带来的挑战.
- 为了实现高性能的领导者跟随同步.
主要方法:
- 提出了一种分布式强大的输出反规定的性能控制策略.
- 控制器设计离线,独立于初始和切换条件.
- 该策略的特点是针对拓切换的错误在线调整,以及对未知动态的固有稳定性.
主要成果:
- 实现了全球快速准确的输出同步.
- 追随者输出成功地跟踪领导者输出,具有预先分配的结算时间和准确性.
- 该方法在没有参数识别,函数近似或干扰估计的情况下证明了稳定性.
结论:
- 拟议的控制策略有效地解决了复杂的多代理系统的高性能领导者追随问题.
- 该方法为具有未知的动态和动态通信拓的系统提供了强大的和可适应的解决方案.
- 模拟结果验证了理论发现和方法的实际适用性.
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