Çok Etmenli Sistemler için Olay Tetiklemeli İşbirlikçi Kontrol

Yıl 2023, Cilt: 35 Sayı: 1, 13 - 27, 29.03.2023

Neslihan Karaş , Janset Dasdemir

Öz

Bu çalışmada, merkezi yapıdaki çok etmenli sistemlerin işbirlikçi kontrol problemine yer verilmiştir. Buna göre, tek integratör ile ifade edilebilen çok etmenli sistemler için olay tetiklemeli işbirlikçi kontrol algoritması ele alınmıştır. Lyapunov fonksiyonu yardımıyla, durum fonksiyonunun normuna göre ölçüm hatasının oranına bağlı olan bir olay tetiklemeli kontrol kuralından faydalanılmıştır. Kontrol sinyalleri, yalnızca tetikleme koşulu gerçekleştiğinde uygulanmıştır. Böylelikle, ağ üzerindeki iletim yükü ve dolayısıyla iletişim maliyeti azaltılmıştır. Ayrıca, Zeno-davranış ele alınmış ve buna göre, olaylar arası sürelerde kesin pozitif bir alt sınırın varlığı incelenmiştir. Haberleşme gecikmesinin olduğu durum için farklı bir olay tetiklemeli mekanizma önerilmiştir. Son olarak, önerilen olay tetiklemeli işbirlikçi kontrol algoritmalarının etkinliği benzetim çalışmaları ile desteklenmiş, çok etmenli sistemin uzlaşma noktasına ulaştığı ve Zeno davranışın oluşmadığı gösterilmiştir.

Anahtar Kelimeler

Olay tetiklemeli kontrol, ağ bağlantılı çok etmenli sistemler, işbirlikçi kontrol, haberleşme gecikmesi.

Kaynakça

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