Coordination control method based on modeling of actuator saturation multi-intelligent system
A multi-agent system, coordinated control technology, applied in the field of multi-agent systems
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[0088] The embodiments of the present invention will be described in detail below. This embodiment is implemented under the technical solution of the present invention. The present invention provides detailed implementation and specific implementation process, but its protection scope is not limited to the following examples.
[0089] according to figure 1 Shown control structure, the specific steps of the embodiment of the present invention are:
[0090] Taking a fourth-order controlled object as an example, its subsystem is modeled using the state space expression method, and the model is as follows:
[0091] A = 0 1 0 0 - 2.3636 0 1 ...
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