A Robust Convergent Control Method for Heterogeneous Multi-Agent Systems

Abstract

The invention provides a distribution type convergence control method with robust anti-jamming capacity, which aims at a complicated network system of a plurality of disturbed agents along with a heterogeneous pilot and belongs to the coordination control field of a multi-agent system. The implementation process of the method comprises the following steps of (1) judging the system inclusion relation of a following agent and the heterogeneous pilot; (2) raising a structure frame of a dynamic convergence controller Ci=(Ar, K2, Kr, K1); (3) designing feedback matrixes Ar and Kr in the controller: introducing a nominal model of the heterogeneous pilot in the agent, so that output information under specific initial conditions can be synchronous; and (4) solving gain matrixes K1 and K2 in the controller: realizing asymptotic output convergence with H infinity anti-jamming index gamma. The robust convergence controller provided by the invention is simple to design and solve, and can achieve preset control precision and effect, has very high practicability, and is suitable for convergence control with expected movement locus for civil use and military affairs.

Description

technical field [0001] The invention relates to the technical field of coordinated control of multi-agent systems, and specifically aims at a complex network system in which multiple autonomous agents follow a heterogeneous leader, and proposes a distributed convergence control method with robust anti-interference ability. Background technique [0002] With the transformation of actual systems to large and complex, and the rapid development of complex systems, information networks, and distributed intelligent control, coordinated control of multi-agent systems has become a research topic in the fields of automatic control, artificial intelligence, and cutting-edge complexity science. hotspot. Among them, distributed convergent control is one of the basic research issues in the analysis and control of multi-agent systems. It refers to a system composed of a large number of agents (or nodes) with certain execution and communication capabilities that transmit information to eac...

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Problems solved by technology

On the other hand, most research works only consider the asymptotic convergence problem of the multi-agent system when the time tends to infinity, and do not consider the control effect, performance and precision in the whole operation process

However, factors such as unmodeled dynamics of real agents and noise interference from the environment cannot be avoided. Therefore, it is necessary to consider the robustness and anti-interference ability of the convergence control algorithm on the basis of ensuring the asymptotic convergence of the system, that is, it has Robust anti-disturbance convergent control for multi-agent systems with uncertainties such as external disturbances

[0004] To sum up, the existing research work does not consider the convergent control problem of multiple autonomous agents following a leader with different dynamic models in practical applications, let alone the heterogeneous Leader-Follower multi-agent in the case of random external interference. Robust anti-disturbance performance of system convergence control

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