多目标包围控制问题的时变几何中心的无喋喋不休和有限时间估计

IF 3.7 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS
Liang Zhang , Jun Song , Shuping He
{"title":"多目标包围控制问题的时变几何中心的无喋喋不休和有限时间估计","authors":"Liang Zhang ,&nbsp;Jun Song ,&nbsp;Shuping He","doi":"10.1016/j.jfranklin.2024.107394","DOIUrl":null,"url":null,"abstract":"<div><div>This paper investigates the finite-time estimation of the time-varying Geometrical Center of Targets (GCT) in Multi-Target Enclosing Control Problem (MTECP). Existing estimators exhibit a chattering phenomenon that is harmful to the mechanical components of the deployed robots when forming the enclosing formation. We thereby propose two chattering-free finite-time estimators, employing a fully distributed approach demanding only the local observation and neighboring communication. The first fractional-order estimator is formulated by replacing the discontinuous term in the existing finite-time estimator by a fractional-order term, which remains smooth when the consensus error approaches zero. Theoretical results show that the estimation error can be stabilized into a bounded region adjustable by tuning the parameters. Then, another novel estimator with double integral architecture is designed to further eliminate the bounded estimation error in the first-order estimator i.e. can achieve exact tracking of the GCT in finite-time. Its continuity of estimation arises from the integration of a discontinuous unit-vector term and three more internal states are introduced to realize the double integral architecture. Finally, simulation and comparison results validate the correctness and smoothness of the proposed estimators.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 1","pages":"Article 107394"},"PeriodicalIF":3.7000,"publicationDate":"2024-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Chattering-free and finite-time estimation of the time-varying geometrical center for the multi-targets enclosing control problem\",\"authors\":\"Liang Zhang ,&nbsp;Jun Song ,&nbsp;Shuping He\",\"doi\":\"10.1016/j.jfranklin.2024.107394\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><div>This paper investigates the finite-time estimation of the time-varying Geometrical Center of Targets (GCT) in Multi-Target Enclosing Control Problem (MTECP). Existing estimators exhibit a chattering phenomenon that is harmful to the mechanical components of the deployed robots when forming the enclosing formation. We thereby propose two chattering-free finite-time estimators, employing a fully distributed approach demanding only the local observation and neighboring communication. The first fractional-order estimator is formulated by replacing the discontinuous term in the existing finite-time estimator by a fractional-order term, which remains smooth when the consensus error approaches zero. Theoretical results show that the estimation error can be stabilized into a bounded region adjustable by tuning the parameters. Then, another novel estimator with double integral architecture is designed to further eliminate the bounded estimation error in the first-order estimator i.e. can achieve exact tracking of the GCT in finite-time. Its continuity of estimation arises from the integration of a discontinuous unit-vector term and three more internal states are introduced to realize the double integral architecture. Finally, simulation and comparison results validate the correctness and smoothness of the proposed estimators.</div></div>\",\"PeriodicalId\":17283,\"journal\":{\"name\":\"Journal of The Franklin Institute-engineering and Applied Mathematics\",\"volume\":\"362 1\",\"pages\":\"Article 107394\"},\"PeriodicalIF\":3.7000,\"publicationDate\":\"2024-11-14\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of The Franklin Institute-engineering and Applied Mathematics\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0016003224008159\",\"RegionNum\":3,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of The Franklin Institute-engineering and Applied Mathematics","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0016003224008159","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0

摘要

本文研究了多目标包围控制问题(MTECP)中时变目标几何中心(GCT)的有限时间估计。现有的估计器在形成包围阵型时会出现颤振现象,对已部署机器人的机械部件有害。因此,我们提出了两种无颤振的有限时间估计器,采用全分布式方法,只要求本地观测和邻近通信。第一个分数阶估计器是用分数阶项取代现有有限时间估计器中的不连续项,当共识误差趋近于零时,分数阶项保持平稳。理论结果表明,通过调整参数,可以将估计误差稳定在一个可调整的有界区域内。然后,设计了另一种具有双积分结构的新型估计器,以进一步消除一阶估计器中的有界估计误差,即可以在有限时间内实现对 GCT 的精确跟踪。其估计的连续性来自于对不连续单位向量项的积分,并引入了另外三个内部状态来实现双积分结构。最后,仿真和比较结果验证了所提出的估计器的正确性和平稳性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Chattering-free and finite-time estimation of the time-varying geometrical center for the multi-targets enclosing control problem
This paper investigates the finite-time estimation of the time-varying Geometrical Center of Targets (GCT) in Multi-Target Enclosing Control Problem (MTECP). Existing estimators exhibit a chattering phenomenon that is harmful to the mechanical components of the deployed robots when forming the enclosing formation. We thereby propose two chattering-free finite-time estimators, employing a fully distributed approach demanding only the local observation and neighboring communication. The first fractional-order estimator is formulated by replacing the discontinuous term in the existing finite-time estimator by a fractional-order term, which remains smooth when the consensus error approaches zero. Theoretical results show that the estimation error can be stabilized into a bounded region adjustable by tuning the parameters. Then, another novel estimator with double integral architecture is designed to further eliminate the bounded estimation error in the first-order estimator i.e. can achieve exact tracking of the GCT in finite-time. Its continuity of estimation arises from the integration of a discontinuous unit-vector term and three more internal states are introduced to realize the double integral architecture. Finally, simulation and comparison results validate the correctness and smoothness of the proposed estimators.
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
CiteScore
7.30
自引率
14.60%
发文量
586
审稿时长
6.9 months
期刊介绍: The Journal of The Franklin Institute has an established reputation for publishing high-quality papers in the field of engineering and applied mathematics. Its current focus is on control systems, complex networks and dynamic systems, signal processing and communications and their applications. All submitted papers are peer-reviewed. The Journal will publish original research papers and research review papers of substance. Papers and special focus issues are judged upon possible lasting value, which has been and continues to be the strength of the Journal of The Franklin Institute.
×
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