| 李干蓉1
，杨晓武2
，李干荣3.城市水污染的鲁棒自适应协同监控[J].海南师范大学学报自科版,2025,38(2):228-237 |
| 城市水污染的鲁棒自适应协同监控 |
| Robust Adaptive Collaborative Monitoring of Urban Water Pollution |
| |
| DOI：10.12051/j.issn.1674-4942.2025.02.014 |
| 中文关键词: 多智能体系统 城市水污染 自适应技术 鲁棒协同监控策略 外部有界扰动 |
| 英文关键词: multi-agent systems urban water pollution adaptive technique robust cooperative monitoring strategy external bounded disturbances |
| 基金项目:贵州理工学院高层次人才科研启动经费项目（2023GCCZK）；贵州理工学院学术新苗培养及创新探索专项培育
项目（GZLGXM-07） |
|
| 摘要点击次数: 1181 |
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| 中文摘要: |
| 针对城市水污染源实时跟踪监控问题，提出一种基于多智能体系统的鲁棒自适应协同
监控算法。在领航者-跟随者控制体系架构下，利用自适应控制技术解决未知外界干扰影响系统
的问题，不依赖外界干扰的最大有界信息来解决干扰问题；同时引入高斯误差函数来构建饱和控
制信号，解决智能体输出饱和约束问题。根据李雅普诺夫稳定性理论，证明了闭环误差控制系统
的渐进稳定性，表明智能体在控制器的作用下可以到达城市待测水域对水污染情况进行动态监
测。最后，通过仿真结果验证了所提方法的有效性。 |
| 英文摘要: |
| A multi-agent system (MAS)-based robust adaptive cooperative framework was proposed for real-time contami⁃
nant source tracking in urban water environments. Under the leader-follower control architecture, an adaptive compensa⁃
tion mechanism was developed to solve the interference problem without using the upper bound of external bounded distur⁃
bances. To solve the problem of actuator saturation constraints, a nonlinear Gauss error function was introduced to generate
bounded control signals. Based on Lyapunov stability theory, the asymptotic convergence of closed-loop error systems was
proved, which indicated that the followers could dynamically monitor the water pollution situation in the urban water fields.
Finally, the effectiveness of the proposed method was verified through simulation results. |
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