对于具有时间变化的延迟的非线性马尔科夫切换大质量的多率采样模糊共识控制:圆形吸引区域受限方法
IEEE transactions on cybernetics
|November 21, 2025
概括
本研究引入了一种新的多速率采样数据共识 (MRSDC) 控制,用于非线性马尔科夫切换多代理系统 (MAS). 该方法在不确定的网络条件下确保平均平方共识和边界状态.
科学领域:
- 控制理论 控制理论
- 系统工程 系统工程
- 机器人技术 机器人技术 机器人技术
背景情况:
- 研究非线性马尔科夫切换多代理系统 (MAS) 中的共识问题.
- 解决因时间变化的延迟和不确定的半马尔科夫过渡 (GUST) 交换拓所带来的挑战.
- 强调在复杂的网络系统中需要灵活的控制策略.
研究的目的:
- 为非线性马尔科夫切换MAS设计一种新的多速率采样数据共识 (MRSDC) 控制方案.
- 为了确保在一般不确定的半马尔科夫过渡 (GUST) 交换拓下实现平均平方可达集合 (RS) 共识.
- 将可达到的状态限制在圆形吸引类区域内.
主要方法:
- 使用Takagi-Sugeno (T-S) 模糊建模,将非线性马尔科夫切换MAS转换为准线性子系统.
- 开发一个非周期性的MRSDC控制策略,采用适应性采样率.
- 引入一个新的自由加权积分不等式和一个循环侧的利亚普诺夫函数.
- 使用线性矩阵不等式 (LMIs) 推导出足够的共识条件.
主要成果:
- 在LMI中得出的足够条件保证了MAS的平均平方无领导的共识.
- 该MRSDC计划确保可达到的状态仍然局限于圆形吸引类区域内.
- 使用相互连接的单链机器人臂系统 (SLRAS) 的数值验证证明了该方法的有效性.
结论:
- 拟议的MRSDC控制策略有效地在非线性马尔科夫切换MAS中实现共识,时间延迟可变.
- 适应性抽样方法提高了灵活性和共识性能.
- 与现有方法相比,开发的方法提供了更高的性能,比较数值示例表明.
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