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针对一类非线性耦合动态互联系统, 提出一种分布式协作负载均衡控制方法. 借助输入输出反馈线性化技术, 构建系统输入输出之间的关系, 将耦合互联系统的分布式负载均衡控制设计问题转化为一阶多速率积分器智能体系统的输出一致性跟踪问题. 基于最近邻原则设计增益可调的分布式协作负载均衡控制律,在通信拓扑满足相应的连通条件下,通过子系统间的局部交互实现负载均衡的目标. 仿真和实验结果表明了所提出控制方法的有效性和可行性.
Aiming at a class of nonlinear coupling dynamic interconnection system, a distributed cooperative load balancing control method is proposed. With the help of input-output feedback linearization technology, the relationship between input and output of the system is established, and the distributed load balancing control design problem of coupled interconnected system Which is transformed into the output consistency tracking problem of first-order multi-rate integrator system.Finally, a distributed cooperative load balancing control law with adjustable gain is designed based on the nearest neighbor principle. When the communication topology satisfies the corresponding connectivity condition, The goal of partial load balancing is achieved by local interaction.The simulation and experimental results show the effectiveness and feasibility of the proposed control method.