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Multiagent network finite time containment control method and apparatus

A multi-agent, limited-time technology, which is applied in data exchange network, service based on location information, digital transmission system, etc., can solve the problems of inability to realize rapid and limited-time inclusive control of intelligent agents, and achieve high speed and stability , good robustness, and ensure the effect of coordinated safety control

Inactive Publication Date: 2018-04-06
TSINGHUA UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in practical applications, the agents in a multi-agent network are described by nonlinear dynamics, and are affected by nonlinear disturbances such as model uncertainty and random disturbances. Existing agent control methods cannot achieve agent control. fast limited time containment control

Method used

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  • Multiagent network finite time containment control method and apparatus
  • Multiagent network finite time containment control method and apparatus
  • Multiagent network finite time containment control method and apparatus

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Embodiment 1

[0098] In this embodiment, consider a network composed of 8 agents, including 4 pilot agents and 4 follower agents. The network topology is as follows: image 3 Shown, L 1 ~L 4 Represents 4 pilot agents, F 1 ~F 4 Represents 4 following agents. by image 3 It can be seen that there is no direct connection between the following agents. For each following agent, there is at least one pilot agent communicating with it. Let nonlinear dynamics and nonlinear disturbances be:

[0099]

[0100] g(x i ,v i )=(0,-0.158sin(0.1256t)) T ,i∈L

[0101] ρ i =[0.5sin(x i1 )+0.5sin(v i1 ),0.5cos(x i2 )+0.5cos(v i2 )] T ,i∈F

[0102] Using the variable structure control idea, based on the relative position and relative speed information between the agents, two control schemes are designed, as shown in the control protocol (4) and control protocol (5) respectively.

[0103] When the control protocol (4) is adopted, in this embodiment, in order to enable the nonlinear network to achieve finite time inclus...

Embodiment 2

[0106] In order to relax the restriction on the network topology, in this embodiment, the situation of strong direct connection between follower agents is studied.

[0107] Consider a directed network topology composed of 10 agents, including 4 pilot agents L 1 ~L 4 And 6 following agents F 1 ~F 6 , Its network topology such as Image 6 As shown, there is a strong connection between the following agents. For each following agent, there is at least one pilot agent communicating with it. In the second embodiment, the same essential nonlinear dynamics and nonlinear disturbances as in the first embodiment are adopted, and the Laplacian matrix Γ corresponding to the network topology connection between the following agents is used. 1 It is a non-singular matrix but non-symmetric positive definite.

[0108] A non-smooth discontinuous control control protocol is designed to realize the finite time containment control of the nonlinear network, and the sliding mode error vector is defined as:...

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Abstract

The invention provides a multiagent network finite time containment control method and apparatus. The method comprises the following steps: obtaining a minimum geometric space formed by a navigation agent by detecting the position of a barrier; determining an expected position and speed of a following agent during operation in the space according to a multiagent network topology and the position and speed information of the navigation agent; obtaining a relative position and speed between the following agent and the adjacent agent according to the topological connection situation between the following agents, and designing a finite time control protocol of the following agent according to the relative position and speed; and controlling the following agent to enter the minimum secure areaaccording to the finite time control protocol, and causing the following agent to move according to the expected position and speed. According to the multiagent network finite time containment controlmethod and apparatus, the coordinated security control of the multiagent network is guaranteed by few navigation agents provided with sensors; and second-order linear control based on the positions and speeds of the agents is adopted to effectively improve the fastness and stability of the nonlinear agent group coordinated control.

Description

Technical field [0001] The present invention belongs to the technical field of multi-agent network control, and in particular relates to a method and device for controlling the limited time tolerance of a multi-agent network. Background technique [0002] A multi-agent network is a large-scale system composed of groups of agents with computing, sensory communication, and mobile capabilities that are connected through network communication. Agents transfer information through the network, and adopt more convenient and flexible distributed control methods. Multi-agent coordinated control has been successfully applied in many engineering fields, such as intelligent body aggregation, drone fire rescue, communication network congestion control, and sensor network positioning. Under normal circumstances, agents refer to robots and drones. [0003] In practical applications, when multiple agents with different performances perform coordination tasks, only some agents need to be equipped...

Claims

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Application Information

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IPC IPC(8): H04L12/24H04W4/021H04W4/029
CPCH04W4/025H04L41/12H04W4/021H04W4/027
Inventor 季向阳于镝陈孝罡高山
Owner TSINGHUA UNIV
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