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1.
带丢包一致性滤波算法研究   总被引:6,自引:4,他引:2       下载免费PDF全文
王帅  杨文  侍洪波 《自动化学报》2010,36(12):1689-1696
提出了一种基于一致性的分布式滤波算法, 针对实际应用中存在的网络丢包问题, 重点研究了有丢包时的分布式滤波算法, 通过理论分析给出了估计误差系统收敛的充分条件. 应用数值仿真将本 文提出的算法与已有的经典滤波算法分别在理想状况与有丢包状况时进行比较, 研究表明本算法在丢包时具有较优的滤波效果. 并进一步研究了一致性步长对估计误差协方差的影响, 发现存在估计误差达到最小值的最优步长. 最后, 研究了丢包率对算法的影响, 发现起``领导'作用的传感器在滤波时发挥重要作用, 可通过控制这些传感器的丢包率来减小丢包对整个网络系统的影响.  相似文献
2.
一个基本矩阵的鲁棒估计算法   总被引:3,自引:1,他引:2       下载免费PDF全文
郭继东  向辉 《计算机应用》2005,25(12):2845-2848
通过分析基本矩阵的鲁棒估计方法的特点,提出了三点改进:在RANSAC(RANdom SAmpling Consensus)方法中采用了极小化再投影误差判别数据点的类别;给出再投影误差的一阶近似算法;由求出的基本矩阵和局内点数据采用LM算法对结果过一步求精,给出更好的基本矩阵估计值,使得再投影误差进一步减小,避免结果趋于局部极值。合成数据和真实图像实验均证明了该方法的有效性和可靠性。  相似文献
3.
研究了处于任意时延非线性动态网络中的时钟振荡器的同步问题. 首先, 提出了一种基于一致性控制策略的动态同步算法, 即快速平均同步算法(FASA)来找到同步解. 该算法能够补偿时钟节点间的时钟偏移和时钟偏差, 使得和以前的同步方法比较后在较短的时间内实现时钟节点的同步. 其次, 由于FASA的动态特性, 我们从具有任意时延的分割动态系统角度来刻画这个算法. 该算法保证在动态网络中的所有时钟节点收敛到李亚普诺夫稳定平衡点. 最后, 数值仿真和实验结果证明了FASA的正确性和有效性, 这意味着时钟节点能达到全局一致, 并且使同步误差精度达到纳秒级别.  相似文献
4.
基于一致性的小型四旋翼机群自主编队分布式运动规划   总被引:1,自引:0,他引:1  
设计一种小型四旋翼无人机群起飞后自主形成正多边形编队的分布式运动规划方法.在四旋翼无人机的串级控制系统框架下,分布式编队控制器以简化agent模型为基础,同时采用平均一致性算法和有领导一致性算法,共同产生各无人机位置与偏航角的期望轨迹.讨论了达成最终协调目标队形的拓扑条件,并给出一种基于有向Hamilton环的通信拓扑设计方案.最后通过数值仿真验证了所提出算法的有效性.  相似文献
5.
Multi-agent team cooperation: A game theory approach   总被引:1,自引:0,他引:1  
The main goal of this work is to design a team of agents that can accomplish consensus over a common value for the agents’ output using cooperative game theory approach. A semi-decentralized optimal control strategy that was recently introduced by the authors is utilized that is based on minimization of individual cost using local information. Cooperative game theory is then used to ensure team cooperation by considering a combination of individual cost as a team cost function. Minimization of this cost function results in a set of Pareto-efficient solutions. Among the Pareto-efficient solutions the Nash-bargaining solution is chosen. The Nash-bargaining solution is obtained by maximizing the product of the difference between the costs achieved through the optimal control strategy and the one obtained through the Pareto-efficient solution. The latter solution results in a lower cost for each agent at the expense of requiring full information set. To avoid this drawback some constraints are added to the structure of the controller that is suggested for the entire team using the linear matrix inequality (LMI) formulation of the minimization problem. Consequently, although the controller is designed to minimize a unique team cost function, it only uses the available information set for each agent. A comparison between the average cost that is obtained by using the above two methods is conducted to illustrate the performance capabilities of our proposed solutions.  相似文献
6.
This paper is concerned with asymptotic properties of consensus-type algorithms for networked systems whose topologies switch randomly. The regime-switching process is modeled as a discrete-time Markov chain with a finite state space. The consensus control is achieved by using stochastic approximation methods. In the setup, the regime-switching process (the Markov chain) contains a rate parameter ε>0 in the transition probability matrix that characterizes how frequently the topology switches. On the other hand, the consensus control algorithm uses a stepsize μ that defines how fast the network states are updated. Depending on their relative values, three distinct scenarios emerge. Under suitable conditions, we show that when 0<ε=O(μ), a continuous-time interpolation of the iterates converges weakly to a system of randomly switching ordinary differential equations modulated by a continuous-time Markov chain. In this case a scaled sequence of tracking errors converges to a system of switching diffusion. When 0<ε?μ, the network topology is almost non-switching during consensus control transient intervals, and hence the limit dynamic system is simply an autonomous differential equation. When μ?ε, the Markov chain acts as a fast varying noise, and only its averaged network matrices are relevant, resulting in a limit differential equation that is an average with respect to the stationary measure of the Markov chain. Simulation results are presented to demonstrate these findings.  相似文献
7.
Consensus algorithms in multiagent cooperative control systems with bounded control input are studied in this paper.Consensus algorithms are considered for the single-integrator dynamics and double-integrator dynamics under different communication interaction topologies,and show that consensus is reached asymptotically using the algorithm proposed in this paper for the single-integrator dynamics if the undirected interaction graph is connected,and consensus is reached asymptotically if the directed interaction graph is strongly connected,respectively.In addition,the paper further shows that consensus is reached asymptotically using the algorithm proposed for the double-integrator dynamics if the directed interaction graph is strongly connected.The effectiveness of these algorithms is demonstrated through simulations.  相似文献
8.
基于网络通信的多机器人系统的稳定性分析   总被引:1,自引:1,他引:0       下载免费PDF全文
吴俊  陆宇平 《自动化学报》2010,36(12):1706-1710
研究多机器人系统的协同一致性问题. 在考虑了系统中存在采样、保持以及时延的情况下, 对多机器人系统进行稳定性分析. 提出了一种简便的图形的稳定性判据, 以保证多机器人协同控制系统的一致性收敛. 在此基础上, 推导出了时延为一个采样周期时系统的稳定域. 最后, 利用Matlab进行车辆编队控制系统的仿真, 结果证明了提出的稳定性判据的可行性.  相似文献
9.
寻找多智能体系统一致性的迭代学习方法   总被引:1,自引:0,他引:1       下载免费PDF全文
本文利用迭代学习的方法研究了带头结点的多智能体系统的一致性问题.文中分别对单积分多智能体系统和一般的线性多智能体系统提出了迭代学习型的一致性算法.该算法对每一个从节点所设计的分布迭代学习序列可以保证从节点能完全跟随上头结点.假设头结点是全局可达的,对于有向拓扑连接图,给出了智能体达到完全一致的充分条件.最后,仿真实例说明了文中所给方法的有效性.  相似文献
10.
This paper analyzes the stability and convergence properties of a proportional–integral protocol for coordination of a network of agents with dynamic information flow and quantized information exchange. In the setup adopted, each agent is only required to exchange its coordination state with its neighboring agents, and the desired reference rate is only available to a group of leaders. We show that the integral term of the protocol allows the agents to learn the reference rate, rather than have it available a priori, and also provides disturbance rejection capabilities. The paper addresses the case where the graph that captures the underlying network topology is not connected during some interval of time or even fails to be connected at all times.  相似文献
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