A Robust Convergent Control Method for Uncertain Multi-Agent Systems

Abstract

The invention provides a distributed convergence control method with robust anti-interference capability by aiming at a completed multi-agent system with external interference and mold uncertainty at the same time, and belongs to the field of coordination control of the uncertain multi-agent system. The method comprises the following realization processes that (1) the uncertain system convergence control is converted into the robust H infinite control problem; (2) a distributed state feedback convergence controller is provided; (3) model transformation and robust H infinite theories are applied to analyze the robust convergence condition of a closed loop multi-agent system; and (4) a solving method of matrixes to be fed back in the convergence controller is built on the basis of the robust convergence condition. The robust convergence controller provided by the invention has the advantages that the design and the solving are simple, in addition, the preset robust anti-interference performance can be reached, high practicability is realized, and the completed multi-agent system is suitable for the convergence control of uncertain system objects in civilian use and military affairs.

Description

technical field [0001] The invention relates to the technical field of coordinated control of multi-agent systems, and proposes a distributed convergence control method with robust anti-interference ability for a class of multi-agent systems with random external interference and model uncertainty. Background technique [0002] Multi-agent systems have extensive application backgrounds in engineering, biology and socio-economic fields, and are currently a research hotspot in the field of system control, specifically involving control, physics, mathematics, computers, biology and other disciplines. From the perspective of control, researchers mainly focus on how to achieve the desired macro-emergent behavior based on the local information interaction and mutual cooperation between intelligent individuals, that is, the so-called distributed coordinated control of multi-agent systems. Among them, convergence control is one of the most basic and typical research problems. It is t...

AI Technical Summary

Problems solved by technology

[0004] In fact, the uncertainty caused by various factors and the system's distributed information architecture are intertwined and coupled, which brings difficulties to the analysis and synthesis of multi-agent systems in uncertain environments.

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