固定拓扑和交换拓扑网络中异构无人机代理的有限时间共识

Madhumita Pal
{"title":"固定拓扑和交换拓扑网络中异构无人机代理的有限时间共识","authors":"Madhumita Pal","doi":"10.1177/09544100241254411","DOIUrl":null,"url":null,"abstract":"A finite-time consensus protocol is presented in this paper for a network of connected heterogeneous agents with fixed and switching topology. In this study, two cases directed networks with fixed topology and directed networks with switching topology are examined. Convergence analysis for both the cases are presented. An independent tracking controller, which assures that an agent follows an ideal trajectory designed by sliding mode based consensus control, is devised. Agents stability are independent of the distributed consensus algorithm. Under the proposed control methodology, the measurement vectors of heterogeneous agents converge to the agreement value in a finite amount of time. The comparison results with the existing works show the proposed algorithm’s improved performance in terms of convergence time in presence of disturbances.","PeriodicalId":506990,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2024-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Finite-time consensus of heterogeneous unmanned aerial agents in network with fixed and switching topology\",\"authors\":\"Madhumita Pal\",\"doi\":\"10.1177/09544100241254411\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A finite-time consensus protocol is presented in this paper for a network of connected heterogeneous agents with fixed and switching topology. In this study, two cases directed networks with fixed topology and directed networks with switching topology are examined. Convergence analysis for both the cases are presented. An independent tracking controller, which assures that an agent follows an ideal trajectory designed by sliding mode based consensus control, is devised. Agents stability are independent of the distributed consensus algorithm. Under the proposed control methodology, the measurement vectors of heterogeneous agents converge to the agreement value in a finite amount of time. The comparison results with the existing works show the proposed algorithm’s improved performance in terms of convergence time in presence of disturbances.\",\"PeriodicalId\":506990,\"journal\":{\"name\":\"Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2024-05-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1177/09544100241254411\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1177/09544100241254411","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0

摘要

本文提出了一种有限时间共识协议,适用于具有固定拓扑结构和交换拓扑结构的异构代理连接网络。本研究考察了固定拓扑的有向网络和交换拓扑的有向网络两种情况。本文对这两种情况进行了收敛分析。研究还设计了一种独立跟踪控制器,确保代理遵循基于滑动模式共识控制设计的理想轨迹。代理的稳定性与分布式共识算法无关。在所提出的控制方法下,异构代理的测量向量会在有限的时间内收敛到一致值。与现有研究的对比结果表明,在存在干扰的情况下,所提出的算法在收敛时间方面的性能有所提高。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Finite-time consensus of heterogeneous unmanned aerial agents in network with fixed and switching topology
A finite-time consensus protocol is presented in this paper for a network of connected heterogeneous agents with fixed and switching topology. In this study, two cases directed networks with fixed topology and directed networks with switching topology are examined. Convergence analysis for both the cases are presented. An independent tracking controller, which assures that an agent follows an ideal trajectory designed by sliding mode based consensus control, is devised. Agents stability are independent of the distributed consensus algorithm. Under the proposed control methodology, the measurement vectors of heterogeneous agents converge to the agreement value in a finite amount of time. The comparison results with the existing works show the proposed algorithm’s improved performance in terms of convergence time in presence of disturbances.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信