共查询到19条相似文献,搜索用时 218 毫秒
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有关多智能体系统的研究成果中大多是考虑同构多智能体系统的一致性控制问题,而实际应用中需要多种智能体依据期望编队队形协同工作,并且真实系统的动力学往往具有非线性性质.针对此问题,在无向拓扑结构下,利用非线性参数分解的方法,设计了基于PI控制器与自适应控制策略的一种异构非线性多智能体系统时变编队控制策略.由于真实系统会不可避免地受到外部扰动的影响,而外部扰动的大小是存在一定范围的,因此,在所设计的控制策略基础上又考虑了存在外部有界扰动情况时多智能体系统的稳定性问题,通过构造Lyapunov函数分析了所设计控制策略的稳定性问题,并使用Matlab进行了仿真验证.结果表明,设计的控制策略可以实现异构多智能体系统的时变编队控制,且具有一定的有效性. 相似文献
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为提高编队系统鲁棒性,降低系统对通信条件的要求,针对异构多智能体系统的编队控制问题,提出一种基于脉冲控制的编队控制方法.考虑异构多智能体的切换拓扑与变时延情况,根据一致性理论,提出基于领航跟随者模型的脉冲控制协议.利用矩阵分析方法将异构多智能体编队系统的变时延问题转化为时延上界问题,通过构造Lyapunov函数并利用Lyapunov稳定理论得到系统实现编队控制一致性的充分条件.同时,为比较不同控制协议的优劣性,提出切换拓扑下多智能体编队控制的平均通信代价指标.仿真结果验证了所提脉冲控制方法的有效性和优越性. 相似文献
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针对具有动态多领导者的多智能机器人包含控制问题,设计了一种基于一般连续时间线性动力学的多机器人系统模型与耦合增益自适应更新律包含控制方法。首先建立具有一般连续时间线性动力学的多机器人系统模型,其次使用图论描述多机器人系统中各机器人单体间的通信拓扑关系,然后设计了具有耦合增益自适应更新律的分布式包含控制协议实现所有跟随者最终都保持在领导者组成的凸包内并随其运动,此外该包含控制方法使得所有的跟随者只需参考邻居跟随者的信息而不需要接收全局信息,降低了系统的通信需求,增强了系统的稳定性和冗余性,仿真实验结果表明所提出的控制方法的有效性。 相似文献
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战斗机人工势场在主从编队引导控制中的应用 总被引:1,自引:1,他引:0
引入战斗机人工势场的概念,建立针对主从编队引导控制的模型。在分析势、势场力的基础上,构建战斗机编队的队形势以及队形力函数。建立编队控制模型,编队队形的结构与队形参考点有关,参考点的数量和位置由队形和队形控制方式决定,主从编队控制以长机为队形参考点。建立了基于队形力的主从编队控制模型,并应用于实际领航者之中。仿真表明飞行误差收敛速度快,僚机能够稳定跟踪领航者的飞行轨迹,并保持较小的跟踪误差(20~40m)。在密集编队控制中,仍需改进控制器和优化参数;在稀疏队形和分散队形中,完全可以满足控制需要。 相似文献
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《电光与控制》2020,(3)
针对联合连通拓扑条件下具有多个领导者的多无人机系统编队包含控制问题,分别为领导者和跟随者设计分布式一致性控制器,依据领导者和跟随者对Laplacian矩阵进行分块,对具有有向生成树的Laplacian矩阵进行特殊分解,将领导者的编队控制问题简化为低阶时变系统的渐近稳定性问题。定义跟随者实现包含控制误差量,将跟随者的包含控制问题简化为时变系统的渐近稳定性问题。利用平均化方法,将两个时变系统的渐近稳定性问题转化为两个时间平均系统的渐近稳定性问题,借助线性矩阵不等式和Lyapunov函数给出了控制器的设计步骤,使得多无人机系统的通信拓扑切换足够快,多无人机系统就能在联合连通拓扑条件下实现编队包含控制。通过仿真验证,结果表明所设计控制器的有效性。 相似文献
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针对有人/无人机(MAV/UAV)系统在三维空间下的协同编队队形保持和变换问题,提出了具有分层结构的有人/无人机编队控制方法。根据有人/无人机指挥控制方式和作战流程,设计有人/无人机编队系统控制结构,其中,采用动态面控制方法设计有人机轨迹跟踪控制器,解决了反步控制中虚拟控制信号反复求导的问题;基于有限集中分布式编队控制策略设计无人机编队控制器,实现了多架无人机与有人机的协同编队飞行,并基于Lyapunov理论证明了控制器的稳定性。最后,针对三维空间下的有人/无人机编队进行仿真,仿真结果验证了所设计有人/无人机编队控制策略的有效性。 相似文献
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针对存在通信时延时含单一领导者的多无人机系统的编队控制问题,基于一致性控制理论设计了控制器,使得系统在一定的通信时延条件下依旧能够使各系统状态趋于一致,形成期望的编队。首先,建立系统中各无人机的动力学模型,做出一些基本假设,并根据一致性理论设计参数待定的控制器;其次,通过变量代换和数学变形,得到一个新系统,将原系统的编队控制问题转化为低阶系统的渐近稳定问题;最后,设计Lyapunov-Krasovskii函数,结合线性矩阵不等式推导出了系统达到一致性的充分条件。仿真结果表明,在满足给出的条件时,系统能够在时滞条件下形成期望的时变编队。 相似文献
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In this paper, we develop a tool for evaluating performance of a heterogeneous mobile network under different traffic conditions. The traffic condition is specified in a cluster of seven heterogeneous base stations, and “wrap-up” cell structure is applied to account for the traffic that crosses the boundary of the cluster. The performance of the network is specified in metrics which can be computed using the algorithm developed. These metrics relate to call rejection, i.e. the blocking of new calls, and the termination of handoff calls, as well as the carried traffic i.e. the expected number of ongoing calls in a station. These metrics are either measured for a single base station in a cluster, or measured for the average over the whole cluster. We apply the algorithm to some hypothetical data and present the numerical results. We also consider approximating a heterogeneous model with a simpler homogeneous model. Through some numerical results, we demonstrate the magnitude of errors that could result in the approximation. 相似文献
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In earlier works on transmitter power control in cellular radio systems, the problem of whether a signal‐to‐interference ratio (SIR) threshold is achievable is determined by apparently different rules for homogeneous and heterogeneous SIR systems. In this paper, we present a unified and more universal framework for both cases. We also highlight the conditions under which a given SIR threshold vector for the heterogeneous SIR system is achievable, although so far there is no general solution to this problem. 相似文献
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Clustering technique in wireless sensor networks incorporate proper utilization of the limited energy resources of the deployed sensor nodes with the highest residual energy that can be used to gather data and send the information. However, the problem of unbalanced energy consumption exists in a particular cluster node in the network. Some more powerful nodes act as cluster head to control sensor network operation when the network is organized into heterogeneous clusters. It is important to assume that energy consumption of these cluster head nodes is balanced. Often the network is organized into clusters of equal size where cluster head nodes bear unequal loads. Instead in this paper, we proposed a new protocol low-energy adaptive unequal clustering protocol using Fuzzy c-means in wireless sensor networks (LAUCF), an unequal clustering size model for the organization of network based on Fuzzy c-means (FCM) clustering algorithm, which can lead to more uniform energy dissipation among the cluster head nodes, thus increasing network lifetime. A heuristic comparison between our proposed protocol LAUCF and other different energy-aware protocol including low energy adaptive clustering hierarchy (LEACH) has been carried out. Simulation result shows that our proposed heterogeneous clustering approach using FCM protocol is more effective in prolonging the network lifetime compared with LEACH and other protocol for long run. 相似文献
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针对LEA低C功H算法的簇头分布不合理、网络能耗不均的问题,在耗自适应集簇分层路由算法。首先将分割线的选择LE问A题CH转协议的基础上,提出了一种改进粒子群算法优化化成带约束的非线性优化问题,然后利用粒子群算法求解,并针对粒子群算法的不足进行相应的改进,最后采用仿真实验测试算法的性能。仿真结果表明,相对于其它改进LEACH路由算法,本文算法有效提高了网络的能量利用率,能够实现节点之间的能耗均衡,使无线传感器的网络生存时间得到延长。 相似文献
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PI控制器常用于主动队列管理中,但参数整定上的试凑法具有盲目性,算法的瞬态性能也不够理想.本文推导了基于流体流理论的网络简化模型,基于该模型将集群智能中的改进粒子群优化算法(PSO)应用于PID控制器参数优化,定义了一个综合调节时间、上升时间、超调量、系统静态误差、正弦跟踪误差等动静态性能指标函数,在给定的参数空间进行组合优化搜索,迅速求得获取使性能指标优化函数极小化的一组PID控制器参数,将PID控制器应用于网络主动队列管理系统中.仿真结果表明,在大时滞和突发业务流的冲击两种情况下,该方法设计的控制器的动静态性能优于RED、PI算法,超调量均小于5%,调节时间分别小于5秒、4秒,稳态误差分别小于两个数据包和3个数据包. 相似文献
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Ramalingam Vinodha Sundarraj Durairaj Sakkarai Padmavathi 《International Journal of Communication Systems》2022,35(1):e5019
Due to low cost, ease of implementation and flexibility of wireless sensor networks (WSNs), WSNs are considered to be an essential technology to support the smart grid (SG) application. The prime concern is to increase the lifetime in order to find the active sensor node and thereby to find once the sensor node (SN) dies in any region. For this reason, an energy-efficient Dynamic Source Routing (DSR) protocol needs to provide the right stability region with a prolonged network lifetime. This work is an effort to extend the network's existence by finding and correcting the considerable energy leveraging behaviors of WSN. We build a comprehensive model based on real measures of SG path loss for different conditions by using the characteristics of WSN nodes and channel characteristics. This method also establishes a hierarchical network structure of balanced clusters and an energy-harvesting SN. The cluster heads (CHs) are chosen by these SN using a low overhead passive clustering strategy. The cluster formation method is focused on the use of passive clustering of the particle swarm optimization (PSO). For the sake of eliminating delayed output in the WSN, energy competent dynamic source routing protocol (EC-DSR) is used. Chicken swarm optimization (CSO) in which optimum cluster path calculation shall be done where distance and residual energy should be regarded as limitation. Finally, the results are carried out with regard to the packet distribution ratio, throughput, overhead management, and average end-to-end delay to demonstrate the efficiency of the proposed system. 相似文献
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文中研究了通信时延工况下的基于多智能体系统(Multi-Agent Systems,MAS)有限时间一致性的列车组控制方法。首先,基于MAS建立了一组有序列车的动力学模型,每列列车可以与其相邻列车进行通信,并根据接收到的相邻列车信息进行速度调整。然后,在时延情况下应用有限时间原理,根据相邻列车的信息,设计了列车控制协议。在该策略下,每列列车都能跟踪领先列车的期望速度,使相邻两列列车的间隔距离保持在适当范围内。最后,在Matlab仿真软件上进行数值模拟,验证了该方法的有效性。 相似文献