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针对一类主从式异构线性网络化多智能体系统,考虑每个智能体的反馈通道和前向通道中存在随机网络诱导时延和数据包丢失问题,采用预测控制方法,提出一种基于观测器的网络化多智能体协同输出跟踪控制方案.在该方案中,主智能体在每一时刻基于自身滞后输出和系统参考信号,计算一组控制预测序列和输出预测序列,前者用以主动补偿主智能体控制回路中的随机网络诱导时延和数据包丢失,后者被发往从智能体;从智能体在每一时刻基于主智能体发送过来的输出预测序列和自身滞后输出,计算一组控制预测序列,用以主动补偿从智能体控制回路中的随机网络诱导时延和数据包丢失;随后推导闭环网络化多智能体控制系统的稳定性,并通过实验验证该方案的有效性和可行性. 相似文献
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为了加快多智能体编队控制过程中的状态收敛,提出基于多跳式网络技术的编队控制方法。首先将多智能体系统(MAS)中的每个智能体之间的相对速度偏移引入到控制协议中,然后引入每个智能体与标准位移之间的位置偏移,最后将多跳式网络技术应用在已定的通信拓扑之中,更多的机体信息被传递,每一个智能体能够联系上的邻居数量更多。利用一个六智能体系统的编队仿真进行验证,仿真结果表明所提出的编队控制方法可以使得多智能体系统形成指定队形,并且与没有引入多跳式网络技术的控制方法相比,其状态收敛所需时间减少了约10 s,收敛效率更高。 相似文献
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针对一类具有任意初始状态的部分非正则多智能体系统,提出一种迭代学习控制算法.该算法将具有固定拓扑结构的多智能体编队控制问题转化为广义上的跟踪问题,即让领导者跟踪给定的期望轨迹,而跟随者要始终保持预定队形对某一智能体进行跟踪,并将该智能体作为自身的领导者.同时,为了使每个智能体在任意初始状态下都能按照期望队形进行编队,对每个智能体的初始状态设计迭代学习律,并从理论上对算法的收敛性进行严格证明,给出算法收敛的充分条件.所提出的算法对于各个智能体在任意初始位置条件下均能实现在有限时间区间内系统的稳定编队.最后,通过仿真算例进一步验证了所提出算法的有效性. 相似文献
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研究一类未知异构非线性多智能体的编队控制问题.首先,利用全格式动态线性化(full form dynamic linearization,FFDL)方法将未知非线性智能体转化为含有时变参数的数据模型,并给出时变参数的估计方法;然后,基于该数据模型设计一种分布式无模型自适应多智能体编队控制方案;最后,为验证所提出的无模型自适应编队控制方案的有效性,利用3台NAO机器人开发基于Python的多智能体编队控制实验平台.实验比较结果表明,通过所提出的控制方案可使3台机器人仅利用局部信息就能有效完成编队控制任务,控制性能优于基于PID的编队控制方法. 相似文献
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二乘二取二是一种高安全、高可靠性的安全计算机结构,详述了二乘二取二系统中的主备、主从关系,基于任务级的同步表决方法.在考虑时钟漂移情况下,分析了主从并发式和从机等待式同步表决方式的特性,提出了主从并发式用于主备同步,从机等待式用于主从同步的同步机制方案.搭建了该同步机制方案的二乘二取二平台,测试表明,该同步机制能很好地实现同步表决任务. 相似文献
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该文讨论了主从Lur’e系统之间混沌同步的输出反馈控制问题,利用Lyapunov方法和矩阵不等式技巧,得到了一个依赖于时滞的混沌同步的充分条件,该条件易于用LMI(线性矩阵不等式)方法进行验证,并可对最大允许时滞进行估计,最后结合Chua’s电路进行了数值模拟。 相似文献
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Heemin Shin Dongil You David Hyunchul Shim 《Journal of Intelligent and Robotic Systems》2014,74(1-2):347-361
This paper introduces an algorithm for the autonomous shipboard landing of unmanned helicopters in crosswind, using time-delay control. The proposed algorithm is composed of two parts: the controller, augmented with time-delay control, and the guidance law. The time-delay control is actively adopted to compensate for the model uncertainties of a rotorcraft. The guidance law considers crash avoidance and reentrance procedures, as well as the effects caused by crosswind. The designed algorithm is validated using real-time simulations in MATLAB/Simulink and X-Plane. 相似文献
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Jonghyun Kim Hyung-Soon Park Pyung Hun Chang 《Journal of Intelligent and Robotic Systems》2010,58(3-4):309-337
This paper investigates simple and robust transparency-attainable control architectures for bilateral teleoperation. The strength of two-channel control architectures and time-delay control are exploited. First, two types of transparency-attainable two-channel control architecture are derived. In spite of the simplicity of using two communication channels, these architectures have problems in terms of implementation; they are not simple enough and not robust to uncertainties, such as errors in modeling the plant and force sensor noise. To solve the problems, time-delay control laws for two-channel control architecture are proposed. The model-independent, nonlinear, and robust characteristics of time-delay control mitigate the problems related to complexity and robustness. Finally, the proposed control laws are applied to experiments using a 2-DOF master–slave system. The experimental results confirm the validity of the theoretical approaches. 相似文献
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在分析舰船航行中所受干扰特性的基础上,针对目前舵鳍联合控制中存在的问题,以虚拟控制力作为中间变量,设计了主从结构的舵鳍联合控制策略.主控制器采用非线性干扰观测器对环境扰动和模型不确定性进行估计,在此基础上以虚拟控制力作为控制量采用自抗扰结构,对船舶三自由度运动进行联合控制.同时,在主控制器设计中包含了舵/鳍伺服系统的实际约束,保证了从控制器解的可行性.基于遗传算法设计了数值反演从控制器,求取最终的控制量.通过船模试验和仿真对所设计的控制器进行了验证,试验和仿真结果表明所设计的两步主从控制策略具有较好的控制效果. 相似文献
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介绍了单自由度主从式力觉临场感比率遥操作实验系统的设计和低成本实现方法。由操作者操纵的主手装有直流力矩电机,与环境作用的小尺度从手选用可细分控制的步进电机驱动。采用一种2通道位置-力控制结构,进行了有时延和无时延的力觉临场感比率遥操作实验。实验结果表明了该系统的有效性。 相似文献
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在双轴同步控制技术中,一般的同步控制方法为主从式控制.主从控制方式虽然能有效控制双轴的同步误差,但是因主动轴不考虑从动轴的干扰情况,所以控制精度不是很高.文章结合现场总线的应用趋势提出了一种基于现场总线的双轴协调同步控制方法,充分利用现场总线提供的数据信息对两个同步轴分别进行误差补偿.通过双轴同步控制实验证明,该方法有效地提高了同步轴的响应速度,比主从式控制方式有更高的同步误差控制精度. 相似文献
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An adaptive motion/force controller is developed for unilateral or bilateral teleoperation systems. The method can be applied in both position and rate control modes, with arbitrary motion or force scaling. No acceleration measurements are required. Nonlinear rigid-body dynamics of the master and the slave robots are considered. A model of the flexible or rigid environment is incorporated into the dynamics of the slave, while a model of the human operator is incorporated into the dynamics of the master. The master and the slave are subject to independent adaptive motion/force controllers that assume parameter uncertainty bounds. Each parameter is independently updated within its known lower and upper bounds. The states of the master (slave) are sent to the slave (master) as motion/force tracking commands instead of control actions (efforts and/or flows). Under the modeling assumptions for the human operator and the environment, the proposed teleoperation control scheme is L/sub 2/ and L/sub /spl infin// stable in both free motion and flexible or rigid contact motion and is robust against time delays. The controlled master-slave system behaves essentially as a linearly damped free-floating mass. If the parameter estimates converge, the environment impedance and the impedance transmitted to the master differ only by a control-parameter dependent mass/damper term. Asymptotic motion (velocity/position) tracking and force tracking with zero steady-state error are achieved. Experimental results are presented in support of the analysis. 相似文献
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Muhammad Usman Asad Umar Farooq Jason Gu Ghulam Abbas Rong Liu Valentina E. Balas 《IEEE/CAA Journal of Automatica Sinica》2019,6(5):1166-1178
State convergence is a novel control algorithm for bilateral teleoperation of robotic systems. First, it models the teleoperation system on state space and considers all the possible interactions between the master and slave systems. Second, it presents an elegant design procedure which requires a set of equations to be solved in order to compute the control gains of the bilateral loop. These design conditions are obtained by turning the master-slave error into an autonomous system and imposing the desired dynamic behavior of the teleoperation system. Resultantly, the convergence of master and slave states is achieved in a well-defined manner. The present study aims at achieving a similar convergence behavior offered by state convergence controller while reducing the number of variables sent across the communication channel. The proposal suggests transmitting composite master and slave variables instead of full master and slave states while keeping the operator’s force channel intact. We show that, with these composite and force variables; it is indeed possible to achieve the convergence of states in a desired way by strictly following the method of state convergence. The proposal leads to a reduced complexity state convergence algorithm which is termed as composite state convergence controller. In order to validate the proposed scheme in the absence and presence of communication time delays, MATLAB simulations and semi-real time experiments are performed on a single degree-of-freedom teleoperation system. 相似文献