基于MAS的时延有限时间一致性下的列车组控制方法

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。

Train Set Control Method with Time Delay Finite Time Consistency Based on MAS

In this paper, a train set control method based on the finite-time consistency of Multi-Agent Systems (MAS) under communication delay conditions is studied. First, a set of ordered train dynamics models are established based on MAS, each train can communicate with its neighboring trains, and adjust the speed according to the received neighboring train information. Then, in the case of time delay, the control protocol of the train is designed according to the information of the adjacent train. Under this strategy, each train can track the expected speed of the leading train, so that the distance between the two adjacent trains is kept within an appropriate range. Finally, numerical simulation is carried out on Matlab simulation software to verify the effectiveness of the method.