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在输入和下未知欧勒-拉格朗日系统的分布式规定的性能形成跟踪

Athanasios K Gkesoulis¹, Andreani Christopoulou², Charalampos P Bechlioulis^1,3

¹Athena Research Center, Robotics Institute, 15125 Marousi, Greece.

Sensors (Basel, Switzerland)

|October 16, 2025

概括

本研究介绍了未知的欧勒-拉格朗日系统的分布式控制方法,确保在性能限制内跟踪形成,尽管输入和. 模拟证实了像水下车辆这样的多代理系统的有效控制.

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
应用数学应用数学应用数学

背景情况:

形成跟踪对于多代理系统至关重要.
欧勒-拉格朗日系统在机器人技术中很常见.
输入和在控制设计中构成了重大挑战.

研究的目的:

开发一个分布式的规定的性能形成跟踪控制方法.
在欧勒-拉格朗奇系统中解决未知的动态和输入振幅约束.
为了在预定义的范围内确保跟踪性能,尽管执行器和.

主要方法:

分布式虚拟速度参考修改机制的设计.
为输入约束制定足够的可行性条件.
闭环信号局限性的分析.

主要成果:

拟议的方法实现了规定的性能形成跟踪.
在确定的可行性条件下,输入约束得到满足.
所有闭环信号都被保证是有界的.

结论:

分布式控制策略有效地处理未知的动态和输入和.
该方法确保了多代理系统的稳健形成跟踪.
用水下车辆进行的模拟证明了其实用性和有效性.

关键词:

有限制的控制控制.分布式控制是指分布式的控制.形成控制的形成控制.非线性系统是非线性系统.强大的控制和强大的控制.不确定系统的不确定性

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