Multi-agent-based non-linear multi-simple-pendulum network system coordination control method

Abstract

The invention provides a multi-agent-based non-linear multi-simple-pendulum network system coordination control method, and belongs to the technical field of distributed coordination control. Aiming at a non-linear multi-simple-pendulum network system that the state information of angular velocity cannot be measured, the method can solve the problem of realizing synchronous control without depending on the global topological information of the system, and can establish a motion model and an information interaction model for the multi-agent-based non-linear multi-simple-pendulum network system. The method comprises establishing the information interaction model for the multi-agent-based non-linear multi-simple-pendulum network system; designing a fully distributed coordination controller based on dynamic output feedback; constructing a distributed error equation for every simple pendulum system; solving the feedback gain and coupling gain and analyzing the system stability; and providing a coordination controller which can prevent the factors, such as environmental change, from changing the system topological structure so as to change and influence the system. The multi-agent-based non-linear multi-simple-pendulum network system coordination control method has no need for redesigning for different information interaction models and solving a coordination control law, thus improving the flexibility for application of the coordination control law.

Description

technical field [0001] The invention relates to a multi-agent-based non-linear multi-pendulum network system coordination control method, which belongs to the technical field of distributed coordination control. Background technique [0002] The simple pendulum is one of the most commonly used basic models in physics and mechanical analysis, and has a wide range of application backgrounds in many fields such as electrical engineering and mechanical engineering. For example, many circuit systems can be approximated by the dynamic equation of a simple pendulum. Cranes lifting heavy objects, pendulum impact testing machines, etc. can also be described by a single pendulum model. Therefore, it is very necessary to conduct in-depth research on the simple pendulum and its dynamic behavior. On the other hand, with the development and popularization of communication network and computer technology, the application of network in industrial field is becoming more and more extensive, ...

AI Technical Summary

Problems solved by technology

[0004] The invention solves the problem of achieving synchronous control without relying on the global topology information of the system, and provides a nonlinear multiple pendulum network system based on multiple agents Coordinated Control Method of Network System

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