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A cooperative tracking control method for time-delay nonlinear multi-agent systems

A multi-agent system, time-delay nonlinear technology, applied in three-dimensional position/channel control and other directions, to achieve the effect of strong practicability

Active Publication Date: 2017-08-04
HARBIN ENG UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide a cooperative tracking control method for a time-delay nonlinear multi-agent system in order to solve the problem of the cooperative tracking consistency of the time-delay nonlinear multi-agent system under uncertain communication conditions,

Method used

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  • A cooperative tracking control method for time-delay nonlinear multi-agent systems
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  • A cooperative tracking control method for time-delay nonlinear multi-agent systems

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Embodiment Construction

[0041] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0042] The present invention considers a nonlinear multi-agent system composed of a leader and N followers, and by designing a distributed controller, the state of the N followers finally approaches the state of the leader.

[0043] For followers, the dynamic model of the i-th follower is

[0044]

[0045] in is the n-dimensional state vector, is the set of real numbers; is its nonlinear dynamic function; τ(t) is the unknown time delay; u i (t) is the control input; is the known system matrix.

[0046] The dynamic model of the navigator is

[0047]

[0048] in It is the navigator state variable. The leader in the present invention can be used as an external system or a control generator, which can generate the required state trajectory, and the leader will not be affected by the follower, but only provides the followe...

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Abstract

The invention provides a cooperated tracking control method of time-lag non-linear multi-agent systems. The method aims at the time-lag non-linear multi-agent systems having uncertain communication. In a practical environment, the local information exchange among the time-lag non-linear multi-agent systems is frequently influenced by uncertainty such as unreliable communication caused by switching of network topologies and interrupt of communication links. According to the invention, an effective distributed control protocol is designed, and the cooperated tracking consistency under the environment that network topology exchange and unreliable communication exist at the same time is well realized, so that design guidance is provided for complex systems having uncertain communication in the practically complex civil and military fields.

Description

technical field [0001] The invention relates to the technical field of cooperative control of multi-agent systems, in particular to a method for cooperative tracking control of time-delay nonlinear multi-agent systems. Background technique [0002] In the last two decades, the research on the cooperative consistency of multi-agent systems has attracted the attention of many scholars. It has extensive research in many engineering application fields, such as multi-robot systems, coordinated control of sensor networks, unmanned aerial vehicle formation flight, and multi-target exploration. The current research on synergistic consistency mainly focuses on two kinds of control problems: synergistic stabilization and synergistic tracking. The cooperative stabilization problem relies on the states of all agents in the system approaching a constant value that depends on the initial states of all agents. The cooperative tracking problem can also be a collaborative consensus problem...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
Inventor 赵春晖崔冰齐滨冯驰马铁东
Owner HARBIN ENG UNIV
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