A Real-Time Partitioned Stable Control Method for Multi-Agent Systems with Discrete Control Quantities

Abstract

The present invention relates to a multi-agent system real-time partition stable control method of controlled quantity discretization, belonging to the technical field of automatic control. The methodcomprises the steps of: establishing a dynamical model of each agent node in a multi-agent system, and obtaining the expression of the discrete controlled quantity of each node; decomposing the multi-agent system to a plurality of sub systems formed by two adjacent nodes, and establishing a state equation by taking the relative speed and spacing errors of the sub systems as state variables; and dividing the state space of the sub systems into a plurality of control areas according to the upper / lower boundaries of the distance and the boundary state track to determine the controlled quantity (accelerated speed) of each agent node in each area and allow the spacing errors between the sub systems to be restricted in a given expected range in finite time so as to obtain a control law and achieve the stable motion control of the multi-agent system of the controlled quantity discretization. The method is good in timeliness and low in node control precision requirement, and can guarantee thebounded stability of the whole multi-agent system.

Description

technical field [0001] The invention relates to a real-time partition stability control method for a multi-agent system with discrete control quantities, and belongs to the technical field of automatic control. Background technique [0002] With the development of control technology, the precise control of robots or intelligent bodies has been applied in all aspects of life. The control process of the target mainly includes two parts: trajectory tracking and precise control. Many studies mostly use proportional-integral-derivative (referred to as PID) control algorithms and model predictive control algorithms to solve trajectory tracking and precise control. However, the amount of directional control of the robot in these studies is continuously adjustable. [0003] For an agent system with a special structure, its direction control quantity is discrete. This type of intelligent agent also has a wide range of applications in real life. For example, the attitude control o...

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Problems solved by technology

[0004] From the point of view of the system structure, the agent cannot achieve continuous control because its control quantity is discontinuous, so the design of control law is more complicated and difficult than the case of continuous control quantity

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