Leader-Following Containment Control of Hybrid Fractional-Order Networked Agents With Nonuniform Time Delays

IF 3 3区计算机科学 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC

IEEE Transactions on Signal and Information Processing over Networks Pub Date : 2023-10-23 DOI:10.1109/TSIPN.2023.3325967

Weihao Li;Lei Shi;Mengji Shi;Jiangfeng Yue;Boxian Lin;Kaiyu Qin

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引用次数: 0

Abstract

Time delays, such as transmission delays or measurement delays, are common phenomena in practical networked control systems. These delays directly threaten the effective completion of cooperative tasks. In this study, the leader-following containment control problem of hybrid fractional-order networked agents with nonuniform time delays is addressed. The position and velocity loops of each double-integrator agent are modeled by fractional-order calculus equations of different orders, which is also called the hybrid fractional-order networked agent system. At first, the mathematical expressions for the upper bound of allowable time delays with respect to the system parameters, such as fractional order, topological structure properties, and controller gains, are given explicitly considering both the directed and undirected graph conditions. Then, this paper obtains the maximum allowable upper bounds of time delays for achieving leader-following containment tracking control in the case of fractional order mismatch. Based on this, it is convenient to calculate the delay margin directly and to judge the stability of the networked agent systems with nonuniform time delays. Finally, some simulation results are given to verify the effectiveness of the delay margin for networked agent systems. The results show that the system stability can be directly judged by calculating the critical time delay condition; meanwhile, the system robustness can also be improved by actively adjusting the controller parameters to increase the delay margin.

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非均匀时滞混合分数阶网络智能体的leader - follow约束控制

时间延迟，如传输延迟或测量延迟，是实际网络化控制系统中常见的现象。这些延迟直接威胁到合作任务的有效完成。研究了具有非均匀时滞的分数阶混合网络智能体的leader-follow约束控制问题。采用不同阶次的分数阶微积分方程对每个双积分器的位置回路和速度回路进行建模，也称为混合分数阶网络智能体系统。首先，考虑有向图和无向图条件，明确给出了系统参数(如分数阶、拓扑结构性质和控制器增益)的允许时滞上界的数学表达式。然后，得到了分数阶不匹配情况下，实现leader-following包容跟踪控制的最大允许时滞上界。在此基础上，可以方便地直接计算时延余量，从而判断具有非均匀时延的网络智能体系统的稳定性。最后给出了仿真结果，验证了延迟裕度对网络化智能体系统的有效性。结果表明，通过计算临界时滞条件可以直接判断系统的稳定性;同时，通过主动调整控制器参数，增大系统的延迟裕度，可以提高系统的鲁棒性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Transactions on Signal and Information Processing over Networks Computer Science-Computer Networks and Communications

CiteScore

5.80

自引率

12.50%

发文量

期刊介绍： The IEEE Transactions on Signal and Information Processing over Networks publishes high-quality papers that extend the classical notions of processing of signals defined over vector spaces (e.g. time and space) to processing of signals and information (data) defined over networks, potentially dynamically varying. In signal processing over networks, the topology of the network may define structural relationships in the data, or may constrain processing of the data. Topics include distributed algorithms for filtering, detection, estimation, adaptation and learning, model selection, data fusion, and diffusion or evolution of information over such networks, and applications of distributed signal processing.