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

A Guaranteed Capacity Formation Control Method with Communication Fault Tolerance

A technology of control method and fault-tolerant function, applied in general control systems, adaptive control, control/regulation systems, etc., can solve the problem of difficulty in ensuring the topology connectivity of switching topology sets, and achieve wide applicability and performance optimization. Effect

Active Publication Date: 2021-01-26
ROCKET FORCE UNIV OF ENG
View PDF5 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, in the research on the formation algorithm under the condition of switching topology, only the general switching topology is considered, that is, all the active topologies in the switching topology set are connected. In fact, this condition is very harsh, that is, under the condition of communication failure, it is very It is difficult to guarantee the connectivity of each active topology in the switched topology set

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
  • A Guaranteed Capacity Formation Control Method with Communication Fault Tolerance
  • A Guaranteed Capacity Formation Control Method with Communication Fault Tolerance
  • A Guaranteed Capacity Formation Control Method with Communication Fault Tolerance

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0026] The present invention is further described below.

[0027] The present invention provides a method for controlling formations with communication fault tolerance, which includes the following contents:

[0028] 1. System model and control protocol

[0029] A multi-agent system contains N isomorphic agents, and the dynamic model of each agent is described as follows:

[0030]

[0031] where x i (t) and u i (t) are the state quantity and control input of the i-th agent, respectively, and A and B are system matrices. The guaranteed capacity formation control protocol is described as follows:

[0032]

[0033] where h i (t) is the formation vector corresponding to the i-th agent, K h is the formation vector gain matrix, w σ(t),ik is the action weight from agent k to agent i in the action topology corresponding to time t, N i is the neighbor set of agent i, J r is the performance optimization function, Q is the performance function gain matrix, K u Enter the g...

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 guaranteed cost formation control method with a communication fault-tolerance function. The method includes the following steps of: 1, system parameter setting; 2, formationvector setting; 3, formation feasibility judgment; 4, positive definite matrix P solving; 5, gain matrix Ku solving; 6, guaranteed cost value solving; and step 7, guaranteed cost formation effect verification. According to the step 1, the values of a system matrix A and a system matrix B and the value of a performance function gain matrix Q are set. According to the step 3, a matrix Kh that satisfies an equation described in the descriptions of the invention is solved, if Kh that satisfies the equation exists, the step 4 is further executed, otherwise, a system (1) cannot realize a formation determined by h(t) under the action of a protocol (2), and the method returns to the step 1, system parameter setting and formation vector setting are performed again. According to the step 4, as for the given Q, a positive definite matrix P that simultaneously satisfies an inequality P(A+BKh)+(A+BKh)TP<=0 and -lambdaminPBBTP+lambdamaxQ<0 is solved. According to the step 5, P is substituted into Ku=BTP, a gain matrix Ku is solved. According to the step 6, a guaranteed cost value is solved according to the expression of J<*>r, and formation control protocol related parameter design is finished.According to the step 7, the solved Kh and Ku are substituted into the system, a formation effect and a guaranteed cost effect are verified.

Description

technical field [0001] The invention belongs to the field of optimal formation control of multi-agent systems, and in particular relates to an energy-guaranteed formation control method with a communication fault-tolerant function. Background technique [0002] When multi-agents perform formation tasks, the communication between each agent is the key factor to complete the formation tasks. Due to the failure of the agent itself or the interference in the task environment, the formation may have communication failures. In this case, the structure of the action topology will change, that is, the action topology may be switched. At present, in the research on the formation algorithm under the condition of switching topology, only the general switching topology is considered, that is, all the active topologies in the switching topology set are connected. In fact, this condition is very harsh, that is, under the condition of communication failure, it is very It is difficult to g...

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
Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 席建祥郑堂杨小冈姚志成范志良王和王成杨杰王乐
Owner ROCKET FORCE UNIV OF ENG
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