اجماع زمان ثابت در سامانه‌هاي چند کارگزار تک انتگرال‌گیر مرتبه کسري
محورهای موضوعی : مهندسی برق و کامپیوترحسین زمانی 1 , وحيد جوهري مجد 2 * , خسرو خانداني 3
1 - دانشگاه تربیت مدرس
2 - دانشگاه تربيت مدرس
3 - دانشگاه اراك
کلید واژه: کارگزارهای تک‌انتگرال‌گیر مرتبه کسری, سیستم چندکارگزاره, اجماع, همگرایی زمان ثابت,
چکیده مقاله :
در این مقاله، مسئله اجماع زمان ثابت در سامانه‌های چندکارگزار تک‌انتگرال‌گیر مرتبه کسری مورد مطالعه قرار گرفته است. اثر حافظه با استفاده از انتگرال و مشتق کسری ریمان- لیوویل در دینامیک کارگزاران در نظر گرفته شده و به منظور همگرایی کارگزاران، یک پروتکل کنترل مرتبه کسری مبتنی بر سیگنال خطای بین کارگزاران همسایه ارائه گردیده است. با استفاده از قضیه پایداری لیاپانوف، یک تابع لیاپانوف معرفی شده که نشان می‌دهد کارگزاران طی یک زمان نشست مشخص، همگرا شده و یک حد بالا برای آن زمان نشست تعیین می‌گردد. مزیت حد معرفی‌شده برای زمان نشست، وابسته‌نبودن آن به شرایط اولیه کارگزاران است. نهایتاً شبیه‌سازی‌هایی برای تأیید روش معرفی‌شده ارائه گردیده است.
The problem of consensus in fractional order single-integrator multi-agent systems has been studied in this paper. The effect of memory is considered using the Riemann-Liouville fractional derivative in the dynamics of the agents. In order to achieve convergence among the agents, a fractional order control protocol based on the error signal between neighboring agents is proposed. Using Lyapunov's stability theorem, a Lyapunov function is introduced that shows that the agents converge over a specified settling time and the upper bound of the settling time is obtained. The merit of the proposed bound for the settling time is that it is independent of the initial conditions. Finally, some simulations are provided to confirm the introduced method.
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