Multi-agent system and its control method

A technology of a multi-agent system and control method, applied in adaptive control, general control system, control/regulation system, etc., can solve the problems that other agents cannot provide sufficient information, and agents cannot obtain and cannot control themselves. To achieve the effect of improving the total amount of information and the reliability of information

Active Publication Date: 2019-12-13
ENN SCI & TECH DEV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a multi-agent system and its control method to solve the problem that the intelligent body cannot control itself well because it cannot obtain all the information of itself, and cannot provide sufficient information to other intelligent bodies

Method used

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  • Multi-agent system and its control method

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Embodiment 1

[0026] The multi-agent system provided by the embodiments of the present invention can be applied to control applications such as formation control, cluster control, and path planning. Of course, the multi-agent system can also be applied to other applications, which is not specifically limited in this application.

[0027] Such as figure 1 As shown, the multi-agent system 1 includes a first agent 11 and a second agent 12, wherein the first agent 11 can communicate with the second agent 12, when the second agent 12 has at least two , each second agent 12 can communicate with each other; each second agent 12 includes an adaptive controller 121, and the adaptive controller 121 is used for real-time Identify or measure the unknown state quantity or unmeasurable state quantity of the second agent 12 .

[0028] Among them, the "first" and "second" in the first agent 11 and the second agent 12 are not used to sort the agents, but to distinguish different agents. For example, the ...

Embodiment 2

[0037] In order for those skilled in the art to clearly understand the multi-agent system described in this application, the multi-agent system of this application is illustrated below. Before describing the embodiment of the present application, the principle of multi-agent is briefly introduced.

[0038] The multi-agent system follows a consistent motion, which means that all agents gradually reach a consistent speed, or the speed of all following agents can track the speed of the leading agent. At this time, the multi-agent system reaches consistency . Specifically, consider a multi-agent system with N agents moving in n-dimensional Euclidean space, and the agent with double-integral dynamics has particle dynamics. The double-integral continuous-time model of a multi-agent system is described as follows:

[0039]

[0040]

[0041] where x i =(x i (1), x i (2),x i (3)) T ∈5 n is the position vector of agent i, is the actual velocity vector of agent i; v i =(...

Embodiment 3

[0064] The embodiment of the present invention also provides a control method of a multi-agent system, the multi-agent system includes a first agent and a second agent, wherein the first agent can communicate with each second agent, when When there are at least two second smart bodies, each second smart body can communicate with each other; each second smart body includes an adaptive controller, and the control method includes: when the state quantity of the second smart body is unknown or unmeasurable When , the adaptive controller is used to identify or measure the unknown or unmeasurable state quantities of the second agent in real time.

[0065] In the control method of the multi-agent system provided by the embodiment of the present invention, the first agent can communicate with each second agent, and each second agent can communicate with each other, which not only enhances the amount of information between agents Transmission, and can avoid the situation that affects t...

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Abstract

The invention discloses a multi-agent system and a control method thereof, relates to the technical field of artificial intelligence, and aims to solve the problem that an intelligent body cannot perform self-control well and cannot provide sufficient information to other intelligent bodies. The multi-agent system includes a first agent and a second agent, wherein the first agent can communicate with the second agent, and when there are at least two second agents, each of the The second intelligent body can communicate with each other; each second intelligent body includes an adaptive controller, and the adaptive controller is used for real-time identification or measurement when the state quantity of the second intelligent body is unknown or unmeasurable The unknown state quantity or unmeasurable state quantity of the second agent. The multi-agent system provided by the invention is used in control problems such as formation control, swarm control and path planning.

Description

technical field [0001] The invention relates to the technical field of artificial intelligence, in particular to a multi-agent system and a control method thereof. Background technique [0002] As an important branch of artificial intelligence, multi-agent system has been widely concerned by people. The multi-agent system has the performance of autonomous coordinated control and distributed control, and has the ability of self-organization, learning and reasoning and prediction. [0003] Usually, a multi-agent system includes multiple agents, and each agent can perceive the external environment by using multiple sensors assembled by itself, so as to obtain various state quantities related to itself, such as speed state quantities, position state quantities, etc.; and , each agent can also send these state quantities to neighboring agents, or receive state quantities sent by neighboring agents. However, when the temperature is too low or one or some sensors in the agent fai...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李红霞曹雪源朱晓军周秋香
Owner ENN SCI & TECH DEV
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