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基于速度的避免碰撞的多代理系统的固定时间形成控制

Shuangsi Xue¹, Zihang Guo², Junkai Tan²

¹State Key Laboratory of Electrical Insulation and Power Equipment, and School of Electrical Engineering, Xi'an Jiaotong University, Xi'an, 710049, China; State Key Laboratory of Human-Machine Hybrid Augmented Intelligence, and The Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, 710049, China.

ISA transactions

|December 26, 2025

概括

本研究提出了一种新的固定时间形成策略,用于使用扩展状态观察员 (ESO) 和事件触发控制的多代理系统 (MAS). 这种方法确保了无碰撞的形成跟踪,尽管存在干扰,并减少了通信负载.

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
人工智能的人工智能

背景情况:

由于外部干扰和未知的动态,多代理系统 (MAS) 在形成跟踪方面面临着挑战.
高计算负载和通信成本是复杂的MAS中的重要问题.
现有的固定时间控制策略可能会受到高初始速度的影响,导致潜在的碰撞.

研究的目的:

为无碰撞的MAS开发一个强大而高效的形成跟踪策略.
为了减轻外部干扰和未知的系统动态对控制性能的影响.
为了减少MAS内部的计算和通信负担.

主要方法:

扩展状态观察器 (ESO) 的设计,具有滑动模式和偏差辐射基函数神经网络 (RBFNN),用于快速状态估计.
制定一个固定时间的形成控制策略,利用ESO的反.
实现分布式事件触发机制以优化控制器更新间隔.
整合基于速度的人工潜力场 (APF) 来管理初始速度并防止碰撞.

主要成果:

拟议的策略实现了该系统的半全球最终固定时间限制 (SGUFTB),通过利亚普诺夫理论证明.
事件触发机制有效地减少了通信和计算负载.
基于速度的APF成功地防止了代理之间的碰撞,并减少了执行器应变.
使用五个全向机器人的比较模拟验证了该战略的有效性.

结论:

开发的固定时间形成策略提高了MAS的控制性能和稳定性.
结合ESO,事件触发控制和APF,提供了一种有效的解决方案,用于无碰撞的形成跟踪.
该战略显示了系统稳定性和资源管理方面的重大改进.

关键词:

避免碰撞,避免碰撞.事件触发的事件触发.固定时间的固定时间.形成控制控制形成控制多代理系统是多代理系统.

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