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1.
Coordination of Networked Nonlinear Multi-Agents Using a High-Order Fully Actuated Predictive Control Strategy 下载免费PDF全文
Guo-Ping Liu 《IEEE/CAA Journal of Automatica Sinica》2022,9(4):615-623
This paper is concerned with the coordinative control problem of networked nonlinear multi-agents (NNM) with communication delays. A high-order fully actuated (HOFA) model is introduced to describe the nonlinear multi-agents. Based on this model, a HOFA predictive coordination method is proposed to compensate for the communication delays actively and achieve simultaneous stability and consensus. This method largely simplifies the design of networked nonlinear multi-agents and makes the control performance be same for networked nonlinear multi-agents with and without communication delays. The analysis on the closed-loop systems derives the simultaneous stability and consensus criteria of networked nonlinear multi-agents using the HOFA predictive coordination method. With the presented way of designing HOFA predictive coordination controllers, a simulated example demonstrates the advantages of the proposed method. 相似文献
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针对主动配电网(active distribution network,ADN)中分散式、主动性元件种类及数量的大幅增加,网络结构复杂管理控制难度日趋困难的问题,提出多代理技术是增加ADN中多类型主动性元件协调合作的新手段。该文综述了近年来国内外基于多代理系统对ADN中分布式能源管控、主动元件的协调控制、故障快速恢复以及区域自治的市场仿真4个方面的研究现状与成果,分析了多代理技术应用在ADN中的管理结构、通讯机制及适应于ADN发展的Agent模型。从ADN的主动性规划、多能流系统模式、博弈性市场机制及负荷主动管理能力等方面的发展趋势,展望了在未来如何更好地利用多代理技术,提高主动配电网的供电可靠性与经济性。 相似文献
3.
A multi-agent architecture for dynamic scheduling of steel hot rolling 总被引:13,自引:0,他引:13
Peter I. Cowling Djamila Ouelhadj Sanja Petrovic 《Journal of Intelligent Manufacturing》2003,14(5):457-470
Steel production is a complex process and finding coherent and effective schedules for the wide variety of production steps, in a dynamic environment, is a challenging task. In this paper, we propose a multi-agent architecture for integrated dynamic scheduling of the hot strip mill (HSM) and the continuous caster. The scheduling systems of these processes have very different objectives and constraints, and operate in an environment where there is a substantial quantity of real-time information concerning production failures and customer requests. Each process is assigned to an agent which independently, seeks an optimal dynamic schedule at a local level taking into account local objectives, real-time information and information received from other agents. Each agent can react to real-time events in order to fix any problems that occur. We focus here, particularly, on the HSM agent which uses a tabu search heuristic to create good predictive–reactive schedules quickly. The other agents simulate the production of the coil orders and the real-time events, which occur during the scheduling process. When real-time events occur on the HSM, the HSM agent might decide whether to repair the current schedule or reschedule from scratch. To address this problem, a range of schedule repair and complete rescheduling strategies are investigated and their performance is assessed with respect to measures of utility, stability and robustness, using an experimental simulation framework. 相似文献
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介绍了一种机器人氧等离子切割控制系统的设计方法.运用多智能体系统理论思想,从系统架构和系统控制两方面分析了系统原理,并着重研究了系统集成技术的工程实现.最后通过工程实例,将多Agent集成策略应用于机器人自动化系统,提高了系统的设计效率,降低了工程难度. 相似文献
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目前,很多蜂拥控制算法都是基于智能体通信半径为一个固定的值且既考虑多智能体之间的相对位置,又考虑它们的相对速度来设计的,然而,实际的情况往往不会有那么理想。文中试图在基于通信半径不同的混合多智能体控制策略的设计过程中减少考虑的控制因素的个数(只考虑位置信息),提出一种分布式的控制算法。此控制算法能实现多智能体跟随一个速度固定的虚拟领航者,形成聚合、无碰撞的队列。给出了算法的可行性理论分析,并针对20个智能体跟踪一个速度固定的虚拟领导者的情形给出了计算机仿真,用以验证算法的可行性。 相似文献
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This paper is concerned with the design of a distributed cooperative synchronisation controller for a class of higher-order nonlinear multi-agent systems. The objective is to achieve synchronisation and satisfy a predefined time-based performance. Dynamics of the agents (also called the nodes) are assumed to be unknown to the controller and are estimated using neural networks. The proposed robust neuro-adaptive controller drives different states of nodes systematically to synchronise with the state of the leader node within the constraints of the prescribed performance. The nodes are connected through a weighted directed graph with a time-invariant topology. Only few nodes have access to the leader. Lyapunov-based stability proofs demonstrate that the multi-agent system is uniformly ultimately bounded stable. Highly nonlinear heterogeneous networked systems with uncertain parameters and external disturbances were used to validate the robustness and performance of the new novel approach. Simulation results considered two different examples: single-input single-output and multi-input multi-output, which demonstrate the effectiveness of the proposed controller. 相似文献
10.
This paper investigates the robust finite-time consensus problem of multi-agent systems in networks with undirected topology. Global nonlinear consensus protocols augmented with a variable structure are constructed with the aid of Lyapunov functions for each single-integrator agent dynamics in the presence of external disturbances. In particular, it is shown that the finite settling time of the proposed general framework for robust consensus design is upper bounded for any initial condition. This makes it possible for network consensus problems to design and estimate the convergence time offline for a multi-agent team with a given undirected information flow. Finally, simulation results are presented to demonstrate the performance and effectiveness of our finite-time protocols. 相似文献