Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Linear quadratic regulator control method of multi-agent system

A multi-agent system, linear quadratic technology, applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve the problem of difficult implementation of the controller, and achieve the elimination of diagonal structure constraints, easy and intuitive operation Effect

Inactive Publication Date: 2018-08-07
KAIMING TECH HANGZHOU CO LTD
View PDF4 Cites 5 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The disadvantage of the above two articles is that the dimension of the state feedback LQR controller given is related to the number of network nodes. Once the number of network nodes reaches a certain scale, the controller is difficult to implement

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Linear quadratic regulator control method of multi-agent system
  • Linear quadratic regulator control method of multi-agent system
  • Linear quadratic regulator control method of multi-agent system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0045]The present invention will be described in detail below according to the accompanying drawings and preferred embodiments, and the purpose and effect of the present invention will become clearer. The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0046] Step 1: Establish the dynamic characteristic equation of a single agent node:

[0047]

[0048] where x i (t), y i (t) are the state and output of the i-th node respectively, u i (t) is the control input of the i-th node, A is the system matrix of the dynamic characteristic equation, B is the input matrix of the dynamic characteristic equation, C is the output matrix of the dynamic characteristic equation, D is the direct transfer matrix;

[0049] Step 2: Algebraically represent the networ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a linear quadratic regulator control method of a multi-agent system. According to the method, on the basis of decoupling, an LQR control problem of a multi-agent system is transformed into an LQR control problem of N intelligent agent sub systems, so that the diagonal structure constraint of the feedback matrix is eliminated. With consideration of the convexity of the LQR control domain, N matrix inequalities are reduced to be two matrix inequalities in the constraint and the minimum and maximum characteristic values of the Laplacian matrix are used as coefficients. TheLQR control of the agent system is independent of the number of nodes, so that the method is suitable for the large network scale. Besides, the method is also suitable for controllers with other structures, like a static output feedback controller. Moreover, the user carries out operation simply and visually and main defects of the traditional method are overcome. The design method can be appliedto solve problems of a population set, spurt, aggregation, sensor network estimation and the like.

Description

technical field [0001] The invention relates to the field of multi-agent system control, in particular to a control method for a multi-agent system linear quadratic regulator. Background technique [0002] In modern control theory, the linear quadratic regulator (Linear quadratic regulator, referred to as LQR) is aimed at the linear system given in the form of state space, with the quadratic function including the object state and control input as the objective function, and the design of state feedback control , so that the objective function reaches the minimum value. LQR theory is an earlier and more mature theory in modern control theory. It has a large stability margin and strong robustness to system model errors, and is widely used in production process control. Moreover, the application of Matlab software provides conditions for LQR theoretical simulation and facilitates the realization of stable, accurate and fast control objectives. [0003] Multi-agent system (MA...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 杨斌谢建立周明乔小宇
Owner KAIMING TECH HANGZHOU CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com