有色金属矿山智能协同作业系统的一致性控制技术研究.

In recent years, smart mines have become a research and construction hotspot in the country, even the non-ferrous metal industry. However, in order to achieve the ultimate unmanned operation, it will inevitably involve multiple equipment and systems for collaborative operation. These equipment and systems constitute a typical multi-agent system, which can realize intelligent operation under harsh conditions, in which the key point is the consistency of system implementation. In order to solve the problem of the execution consistency of the leader-follower model composed of multiple network nodes and multiple agents with time delay, this paper designs an adaptive event-triggered distributed system controller for this type of system. In the design of the event trigger condition of the controller, an observer is designed to solve the situation that the state of the leader node cannot be directly obtained in practical applications, and the time delay in network transmission is taken into account. At the same time, an event-triggered zero-order holder is used to retain and send the delayed measurement output for control updates. After that, the theoretical results obtained in the linear system were modified and extended to the nonlinear system. Finally, the feasibility of the proposed theoretical results was verified through simulation experiments, which provided technical support for the intelligent collaborative operation of non-ferrous metal mines. [ABSTRACT FROM AUTHOR]