适应性模糊神经网络 无人驾驶表面车辆的合作形成控制,使用规定的时间延长状态观察员使用约束
Jie Zhang1, Xiangxiang Meng1, Shuzhi Sam Ge2
1School of Information and Electronic Engineering, Shandong Technology and Business University, Yantai, 264005, China.
ISA transactions
|February 3, 2026
概括
这项研究介绍了适应性模糊神经网络,用于控制多个无人水面车辆 (USV),以保持组合,尽管执行器故障和未知的速度. 该方法确保USV在一定的时间内实现并保持形成,增强海洋自主性.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 海洋工程中的人工智能
- 自主海洋系统 自主海洋系统
背景情况:
- 合作形成控制对于多车辆作战至关重要.
- 无人驾驶地面车辆 (USV) 面临着诸如执行器故障和未知的动力学等挑战.
- 现有的方法经常在规定的时间限制和自适应故障补偿方面扎.
研究的目的:
- 开发一种适应性的模糊神经网络,用于USVs的合作形成控制.
- 在USV系统中解决执行器故障和未知速度信息.
- 为了确保在规定的时间和安全边界内控制阵列.
主要方法:
- 设计基于模糊神经网络的规定的时间延长状态观察器用于速度和干扰估计.
- 使用分布式错误和日志类型屏障Lyapunov函数实现适应性合作形成控制.
- 开发模糊神经网络和乘法故障的适应性规律,以处理不确定性和故障.
主要成果:
- 拟议的观察者准确地估计了未知的速度和系统不确定性.
- 控制方法有效地限制了在规定的安全限制内形成误差和速度.
- 在规定的时间内,USVs成功地形成并保持所需的构成,错误将汇聚到原点.
结论:
- 适应性模糊神经网络方法为USVs提供了强大的形成控制.
- 该方法有效地弥补了执行器故障和模型不确定性.
- 模拟结果验证了拟议的控制策略的有效性和规定的时间趋同.
相关概念视频
Cooperative Allosteric Transitions
8.8K
Cooperative allosteric transitions can occur in multimeric proteins, where each subunit of the protein has its own ligand-binding site. When a ligand binds to any of these subunits, it triggers a conformational change that affects the binding sites in the other subunits; this can change the affinity of the other sites for their respective ligands. The ability of the protein to change the shape of its binding site is attributed to the presence of a mix of flexible and stable segments in the...
8.8K
Cooperative Allosteric Transitions
3.1K
3.1K
Cooperative Allosteric Transitions
2.7K
2.7K
Cooperative Binding of Transcription Regulators
7.4K
Transcriptional regulators bind to specific cis-regulatory sequences in the DNA to regulate gene transcription. These cis-regulatory sequences are very short, usually less than ten nucleotide pairs in length. The short length means that there is a high probability of the exact same sequence randomly occurring throughout the genome. Since regulators can also bind to groups of similar sequences, this further increases the chances of random binding. Transcriptional regulators form...
7.4K
Neural Control of Respiration
4.9K
The neural regulation of respiration is a meticulously coordinated process primarily controlled by the respiratory centers located within the brainstem. These centers, composed of specialized neurons, transmit nerve impulses that control the contraction and relaxation of our respiratory muscles.
Respiratory Centers in the Brainstem
Two primary areas comprise the respiratory center: the medullary respiratory center in the medulla oblongata and the pontine respiratory group in the pons. The...
Respiratory Centers in the Brainstem
Two primary areas comprise the respiratory center: the medullary respiratory center in the medulla oblongata and the pontine respiratory group in the pons. The...
4.9K
Precipitate Formation and Particle Size Control
6.9K
In precipitation gravimetry, the precipitating agent should react specifically or selectively with the analyte. While a specific reagent reacts with the analyte alone, a selective reagent can react with a limited number of chemical species.
The obtained precipitate should be either a pure substance of known composition or easily converted to one by a simple process, such as ignition or drying. In addition, the precipitate should be insoluble and easily filterable. In general, filterability...
The obtained precipitate should be either a pure substance of known composition or easily converted to one by a simple process, such as ignition or drying. In addition, the precipitate should be insoluble and easily filterable. In general, filterability...
6.9K


