论文标题
在非线性网络中，一种反对扰动传播的多重方法
A Multiplex Approach Against Disturbance Propagation in Nonlinear Networks with Delays
论文作者
论文摘要
我们认为，不断变化的沟通延迟影响，我们认为无领导者和领导者可能是非线性的网络。对于此类系统，我们提供一组足够的条件，以确保网络趋向某些期望的行为，同时确保拒绝多项式干扰以及不扩大整个网络中其他类别的干扰类别。为了实现这些所需的属性，并证明了我们的主要结果，我们提出了实现多重体系结构的控制协议的使用。然后，在形成控制的背景下说明了我们的结果用于控制协议设计的使用。这些协议均已验证，并通过具有真实机器人的实验设置进行了验证。所有实验都证实了我们方法的有效性。
We consider both leaderless and leader-follower, possibly nonlinear, networks affected by time-varying communication delays. For such systems, we give a set of sufficient conditions that guarantee the convergence of the network towards some desired behaviour while simultaneously ensuring the rejection of polynomial disturbances and the non-amplification of other classes of disturbances across the network. To fulfill these desired properties, and prove our main results, we propose the use of a control protocol that implements a multiplex architecture. The use of our results for control protocol design is then illustrated in the context of formation control. The protocols are validated both in-silico and via an experimental set-up with real robots. All experiments confirm the effectiveness of our approach.
