This article deals with the problem of electromagnetic source localization (ESL). An evolutionary particle filter, which is first used to make a decision on the positions of electromagnetic sources, has two characteristics. One characteristic is that the number of particles can be significantly reduced while the other characteristic is that the particle diversity can be well improved. On the basis of the estimated positions of electromagnetic sources, the position and velocity of the virtual leader can be determined. Then, an event-based fixed-time consensus control approach is proposed such that the positions and velocities of robots reach consensus with the virtual leader over a fixed-time interval while saving resource consumption by reducing the communication frequencies and updating times of control inputs. Finally, simulation and experimental results show the effectiveness of the proposed decision and event-based fixed-time consensus control approach for ESL.

中文翻译：

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用于电磁源定位的基于决策和事件的固定时间一致性控制


本文讨论电磁源定位（ESL）问题。进化粒子滤波器首先用于决定电磁源的位置，有两个特征。一个特点是可以显着减少粒子数量，另一个特点是可以很好地提高粒子多样性。根据电磁源的估计位置，可以确定虚拟领导者的位置和速度。然后，提出了一种基于事件的固定时间共识控制方法，使得机器人的位置和速度在固定时间间隔内与虚拟领导者达成共识，同时通过减少通信频率和控制输入的更新次数来节省资源消耗。最后，仿真和实验结果表明了所提出的基于决策和事件的 ESL 固定时间一致性控制方法的有效性。