不同质的多代理系统的容错形成控制,具有未知的输入和外部干扰
Yandong Li1,2, Yongan Liu3,4, Ling Zhu5
1College of Computer and Control Engineering, Qiqihar University, Qiqihar, 161000, China.
Scientific reports
|July 2, 2025
概括
这项研究提出了一种新的异质多剂系统 (HMAS) 耐故障形成控制方法. 该方法确保了无人驾驶飞行器 (UAV) 和无人驾驶地面车辆 (UGV) 的合作控制,尽管执行器有故障.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 人工智能的人工智能
背景情况:
- 构成无人驾驶飞行器 (UAV) 和无人驾驶地面车辆 (UGV) 的多种多元代理系统 (HMAS) 在合作控制中提出了独特的挑战.
- 在执行器故障下确保稳健的形成控制,例如部分有效性损失 (PLOE) 和中断故障,对于任务的成功至关重要.
- 现有的方法经常与不一致的系统模型扎,需要复杂的控制器重新设计.
研究的目的:
- 开发一种最佳的耐故障形成控制方法,用于使用多种代理 (无人机和UGV) 的HMAS.
- 解决执行器故障包括PLOE和中断故障在定向拓的HMAS.
- 提出一种控制分配算法,可以绕过控制器重建的需要,并解决汉密尔顿-雅各布-贝尔曼方程.
主要方法:
- 使用Kronecker产品将UAV和UGV系统模型集成到统一的状态空间方程中,解决维度不一致.
- 引入了一种新的控制分配算法,该算法旨在实现无需控制器重建的容错性.
- 将优化理论与控制分配结合起来,以获得耐故障控制器,避免复杂的动态编程解决方案.
- 应用利亚普诺夫稳定理论来验证控制器在领导-追随HMAS配置中的有效性.
主要成果:
- 拟议的方法有效地嵌入使用Kronecker产品的异质系统模型.
- 通过优化和控制分配来导出一个容错的控制器,消除了对汉密尔顿-雅各布-贝尔曼方程解决方案的需求.
- 控制器成功地弥补了异质多剂系统中的执行器故障.
- 模拟涉及三架无人机和三架UGV的形成,证明了该协议的有效性.
结论:
- 开发的耐故障形成控制方法对异质的多剂系统有效.
- 该方法成功地减轻了在合作控制场景中执行器故障的影响.
- 拟议的算法为复杂的HMAS应用提供了一个计算效率高和强大的解决方案.
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