在指向图中事件触发的多代理协调:间歇性控制方法
Wenyu Qin1, Yueyong Lyu1, Pengyu Wang1
1Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China.
ISA transactions
|December 9, 2025
概括
本研究介绍了多代理系统的事件触发间歇性控制策略,减少通信负载并防止Zeno行为. 非同步的,非周期的方法提高了协调效率,没有严格的控制期限制.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 网络化系统 网络化系统
- 分布式计算 (Distributed Computing) 是一种分布式计算.
背景情况:
- 多代理协调对于复杂的任务至关重要.
- 现有的间歇性控制策略往往受到高通信负担或保守主义的影响.
- 事件触发机制为通信效率提供了潜力.
研究的目的:
- 开发一个有效的事件触发间歇性控制策略,用于多代理协调.
- 为了确保控制事件之间的最小时间间隔,防止Zeno行为.
- 为了减少与传统间歇性控制方法相关的保守主义.
主要方法:
- 开发一种用于间歇控制的新型事件触发条件.
- 数学分析以确定事件之间的最小时间间隔.
- 异步和非周期控制信号更新.
- 通过数值模拟和物理实验在多UAV平台上的验证.
主要成果:
- 与传统方法相比,拟议的战略大大减少了通信频率.
- 通过最小时间间隔保证,有效避免了Zeno行为.
- 控制策略的异步和非周期性减少了保守主义.
- 通过使用开发的战略,成功展示了多无人机协调.
结论:
- 开发的事件触发间歇性控制策略对于多代理协调是有效的.
- 这种方法提供了显著的沟通效率,并避免了Zeno行为.
- 该策略的异步和非周期性质使其在现实应用中变得实用和不那么保守.
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