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1.
栾小丽  闵鸯  刘飞 《自动化学报》2017,43(6):1056-1064
针对加热炉多个支路出口温度的平衡及跟踪控制问题,提出具有分布式特点的支路平衡跟踪控制方案,给出了基于分布式偏差的控制器设计方法.该方法利用相邻支路的温度信息,将各支路与相邻支路的温度偏差作为控制输入,在加热炉所有支路的温度达到一致的同时,也确保其跟踪同一设定值.由于仅利用了相邻支路的温度信息,使得所提分布式偏差控制方案在支路数目较多情形下更显优势.最后仿真实例表明了该分布式控制方案的有效性与可行性.  相似文献
2.
对多智能体系统的最新研究进展进行了简要评述. 我们主要关注以下三个方面的研究成果: 分布式估计和滤波算法, 基于外部途径的干预算法以及非线性耦合控制算法等.  相似文献
3.
This paper considers the distributed event‐triggered consensus problem for multi‐agent systems with general linear dynamics under a directed graph. We propose a novel distributed event‐triggered consensus controller with state‐dependent threshold for each agent to achieve consensus. In this strategy, continuous communication in both controller update and triggering condition monitoring is not required, which means the proposed strategy is fully continuous communication free. Each agent only needs to monitor its own state continuously to determine if the event is triggered. Additionally, the approach shown here provides consensus with guaranteed positive inter‐event time intervals. Therefore, there is no Zeno behavior under the proposed consensus control algorithm. Finally, numerical simulations are given to illustrate the theoretical results.  相似文献
4.
This paper proposes an output feedback consensus control law for linear multiagent systems with relative state‐dependent uncertainties. To achieve output feedback control and uncertainty attenuation, the theories of extended high‐gain observer and structural decomposition are employed. Under the proposed control scheme, semiglobal practical consensus is achieved in the sense that the synchronization errors are ultimately bounded. Besides, the synchronization errors can be kept arbitrarily small by a proper choice of tuning parameters. Finally, a simulation example is provided to verify the theoretical results.  相似文献
5.
This paper addresses the robust consensus control design for input‐delayed multi‐agent systems subject to parametric uncertainties. To deal with the input delay, the Artstein model reduction method is employed by a state transformation. The input‐dependent integral term that remains in the transformed system, owing to the model uncertainties, is judiciously analysed. By carefully exploring certain features of the Laplacian matrix, sufficient conditions for the global consensus under directed communication topology are identified using Lyapunov–Krasovskii functionals in the time domain. The proposed control only relies on relative state information of the subsystems via network connections. The effectiveness and robustness of the proposed control design are demonstrated through a numerical simulation example. Copyright © 2016 John Wiley & Sons, Ltd.  相似文献
6.
This paper considers the distributed event‐triggered consensus problem for multi‐agent systems with general linear dynamics under undirected graphs. Based on state feedback, we propose a novel distributed event‐triggered consensus controller with state‐dependent threshold for each agent to achieve consensus, without continuous communication in either controller update or triggering condition monitoring. Each agent only needs to monitor its own state continuously to determine if the event is triggered. It is proved that there is no Zeno behavior under the proposed consensus control algorithm. To relax the requirement of the state measurement of each agent, we further propose a novel distributed observer‐based event‐triggered consensus controller to solve the consensus problem in the case with output feedback and prove that there is no Zeno behavior exhibited. Finally, simulation results are given to illustrate the theoretical results. Copyright © 2016 John Wiley & Sons, Ltd.  相似文献
7.
A stochastic finite frequency consensus protocol for directed networks with Markov jump topologies and external disturbances is proposed in this paper. By introducing the frequency band information into consensus control design, the disagreement dynamics of interconnected networks asymptotically converge to zero with an improved level of disturbance attenuation in the specific frequency band. In addition, the new model transformation approach is presented by exploring certain features of Laplacian matrix in real Jordan form, which leads to more generality of the designed protocol. A numerical example validates the potential of the developed results. Copyright © 2015 John Wiley & Sons, Ltd.  相似文献
8.
Microgrids with distributed energy generators, controllable appliances, electric vehicle charging infrastructures, and energy storage systems introduce new technical challenges in the management of distribution networks. This paper introduces a new framework for power flow control based on the emerging consensus control for networked systems. Due to unique features of power systems, the consensus control problem becomes weighted and constrained, beyond the typical consensus formulation. Using only neighborhood communication for each bus on the microgrid, the consensus control achieves global weighted load balancing. Algorithms are introduced and their convergence properties are established. It is shown that the algorithms have the fastest convergence rates in terms of consensus error variances, by achieving asymptotically the Cramér‐Rao lower bound, and hence is optimal among all algorithms. Examples and case studies demonstrate convergence, robustness, and scalability of the methodology and feasibility in distribution networks. Practical issues are further discussed.  相似文献
9.
This paper presents a novel distributed adaptive control algorithm for uncertain higher‐order nonlinear multiagent systems subject to output constraints and unknown control directions. Regarding the latter, a generic class of cases is considered, allowing completely unknown and even nonidentical control directions. Furthermore, the communication topology is only required to contain a fixed directed spanning tree. To guarantee the output constraints and address the asymmetric directed communication topology, a new reference output using the transformation strategy is introduced for each agent, benefiting from which the consensus problem of the multiagent system is recast as local tracking control problems of single agents. Then, the distributed control algorithm is recursively established based on the backstepping technique and the Nussbaum‐type function. By leveraging the unique properties of the Laplacian matrix on directed graphs and matrix theory, it is shown that, under the proposed distributed algorithm, uniform boundedness of all closed‐loop signals can be ensured, and asymptotic consensus is achieved without violation of the output constraints. Finally, simulation studies on the angle control of single‐link robots are given to verify the effectiveness of the proposed algorithm.  相似文献
10.
This article studies consensus problems of discrete‐time linear multi‐agent systems with stochastic noises and binary‐valued communications. Different from quantized consensus of first‐order systems with binary‐valued observations, the quantized consensus of linear multi‐agent systems requires that each agent observes its neighbors' states dynamically. Unlike the existing quantized consensus of linear multi‐agent systems, the information that each agent in this article gets from its neighbors is only binary‐valued. To estimate its neighbors' states dynamically by using the binary‐valued observations, we construct a two‐step estimation algorithm. Based on the estimates, a stochastic approximation‐based distributed control is proposed. The estimation and control are analyzed together in the closed‐loop system, since they are strongly coupled. Finally, it is proved that the estimates can converge to the true states in mean square sense and the states can achieve consensus at the same time by properly selecting the coefficient in the estimation algorithm. Moreover, the convergence rate of the estimation and the consensus speed are both given by O(1/t). The theoretical results are illustrated by simulations.  相似文献
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