在不规则的通信延迟下,多个欧勒-拉格朗日系统的采样数据无速度共识
Yilin Wang1, Jiahao Dai1, Pengfei Zhang2
1School of Automation and Electrical Engineering, Zhejiang University of Science & Technology, Hangzhou, China.
PloS one
|October 17, 2025
概括
本研究引入了对联网欧勒-拉格朗日系统的新控制方法,尽管存在不规则的延迟,但能够在没有速度反的情况下达成共识. 该方法处理不连续的动态,使其适用于现实世界的应用.
科学领域:
- 机器人和控制理论
- 网络化系统 网络化系统
- 分布式控制 分布式控制
背景情况:
- 在多代理系统中达成共识对于协调行为至关重要.
- 现有的基于被动性的控制 (PBC) 方法在采样数据控制和通信延迟方面遇到了困难.
- 来自采样数据的不连续动态和延迟限制了传统PBC的适用性.
研究的目的:
- 为采样数据开发一种新的控制和分析方法,在欧勒-拉格朗日系统中实现无速度共识.
- 克服现有的PBC方法在处理不规则的通信延迟方面的局限性.
- 在现实的网络条件下,在多代理系统中实现强有力的共识.
主要方法:
- 一种新的控制策略,将连续间隔和离散瞬间的系统动态分别处理.
- 实现虚拟系统框架以消除对速度测量的需求.
- 严格的稳定性分析,以证明共识,尽管不连续的动态和延迟.
主要成果:
- 在不规则的通信延迟下,在多个欧勒-拉格朗日系统中成功证明了共识.
- 拟议的方法有效地处理采样数据的控制,而不需要持续的反.
- 虚拟系统框架缓解了对有限延迟衍生品的需求,提高了实用性.
结论:
- 新的控制和分析方法为欧勒-拉格朗日系统中采样数据,无速度共识提供了强大的解决方案.
- 这项工作弥合了理论上的差距,使PBC适用于具有延迟的现实网络场景.
- 模拟结果验证了针对多代理系统的拟议共识算法的有效性.
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