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Group Surrounding Control Method for Multi-Agent System

A multi-agent system and control method technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., to achieve good convergence and improve robustness

Inactive Publication Date: 2018-09-07
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The coordinated encirclement control of multiple groups of agents is still in the initial research stage and needs further research

Method used

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  • Group Surrounding Control Method for Multi-Agent System
  • Group Surrounding Control Method for Multi-Agent System
  • Group Surrounding Control Method for Multi-Agent System

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Experimental program
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Embodiment

[0030] figure 1 It is a flow chart of the specific implementation of the multi-agent system grouping encirclement control method of the present invention. like figure 1 As shown, the specific steps of the multi-agent system grouping encirclement control method of the present invention are as follows:

[0031] S101: Determine the multi-agent system structure vector:

[0032] The multi-agent system is divided into several subsystems according to specific tasks, and the set of agents in each subsystem in the multi-agent system is denoted as S k ={s ki |i=1,2,…,N k}, where k=1,2,...,K, K represents the number of subsystems, N k represents the number of agents in the kth subsystem, s ki represents the ith agent in the kth subsystem. In a multi-agent system, an agent may undertake multiple tasks, that is to say, there may be an intersection of the sets of agents in each subsystem.

[0033] Among K subsystems, if subsystem S c The task is used by another subsystem S p decid...

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Abstract

The invention discloses a multi-agent system grouping encirclement control method, which divides the multi-agent system into subsystems according to specific tasks, and determines the structure vector of each agent in each subsystem according to the actual needs of encirclement control; each subsystem The position detection of the target in the target group is performed respectively, and the center of the target group is estimated according to the center estimator, and then the control amount of the agent is calculated according to the center of the target group, the current position and speed of the agent, and the structure vector. The present invention designs a smooth center estimator for dynamic group targets, which has finite time convergence characteristics, and the control protocol constructed by using it also has good convergence, thereby realizing coordinated encirclement control with multiple groups of intelligent body systems, especially for A subsystem with a task inheritance relationship can improve the robustness of the subsystem in the encirclement process.

Description

technical field [0001] The invention belongs to the technical field of intelligent body control, and more particularly, relates to a method for grouping and encircling a multi-agent system. Background technique [0002] As a kind of coordinated control of multi-agent system, encircling control aims to realize the encircling formation of target groups, so as to protect and monitor them. Due to its potential application prospects in the civilian and military fields, it has received extensive attention. [0003] When studying the encirclement control problem, in addition to the encirclement of a single target, it also involves the encirclement of group targets. When considering encircling a group target, the target may be static, and more generally, the position of the target group is changing. This change may be that the structure of the individuals in the target group remains unchanged but the overall Changes, and possibly the inter-individual structure of the target group,...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李瑞史莹晶程祥杨峰
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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