相关实验视频
Updated: Jan 12, 2026

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A Protocol for Real-time 3D Single Particle Tracking
Published on: January 3, 2018
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一个改进的,强大的,固定时间的双方集群跟踪控制方案,用于有未知干扰的网络代理.
Ruichi Ren1, Kaiyu Qin1, Weihao Li1
1School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu, 611731, China; Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province, Chengdu, 611731, China.
ISA transactions
|October 30, 2025
概括
本研究介绍了多代理系统 (MAS) 强大的固定时间控制方案,以实现集群跟踪. 新型控制器确保了更快的融合和干扰排斥,提高了系统的稳定性.
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
- 网络化系统 网络化系统
背景情况:
- 多代理系统 (MAS) 需要协调的行为来完成复杂的任务.
- 集群行为对于MAS的分散协调至关重要.
- 在干扰下实现固定时间的融合是一个重大挑战.
研究的目的:
- 调查MASs的固定时间双方集群跟踪 (FTBFT) 问题.
- 为FTBFT提出一个新的,强大的固定时间控制方案.
- 为了确保追随者代理在特定的固定时间内跟踪领导者,尽管存在干扰和未知的控制输入.
主要方法:
- 开发一种由一个符号函数项和一个指数项组成的新型控制方案.
- 在外部干扰和未知的控制输入下分析闭环系统动态.
- 一个固定时间结算时间的导出,独立于初始条件.
主要成果:
- 拟议的控制方案实现了固定时间的双方集群跟踪.
- 控制器证明了对外部干扰和未知的控制输入的稳定性.
- 结算时间是有界的,并且独立于代理人的初始状态.
结论:
- 新的控制方案简化了控制器结构,同时提高了稳定性并实现了固定时间的融合.
- 这项研究为MASS的FTBFT问题提供了有效的解决方案.
- 模拟结果验证了拟议方案的有效性和性能.
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