Optimal consistency control method and system of nonlinear multi-agent system

A multi-agent system and control method technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as obtaining the analytical solution of the coupled HJB equation in a way that cannot be solved, and the inconsistency of the dynamic model of the agent. Achieve the effect of practical application value, guaranteed reliability and strong robust performance

Active Publication Date: 2018-11-13
CHINA UNIV OF GEOSCIENCES (WUHAN)
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Problems solved by technology

However, due to the unknown nonlinearity of the system model and the inconsistency of the dynamic models of each agent

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  • Optimal consistency control method and system of nonlinear multi-agent system
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  • Optimal consistency control method and system of nonlinear multi-agent system

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Embodiment Construction

[0019] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation manners of the present invention will now be described in detail with reference to the accompanying drawings.

[0020] Aiming at the problems existing in the prior art, the present invention proposes a layered distributed control architecture, that is, the lower model reference adaptive control, and the upper layer distributed collaborative control; fully combining the model reference adaptive control and the adaptive dynamic programming method , first adopts the execution evaluation network architecture to realize the optimal consistency of the multi-agent system with the reference model as an individual, and then realizes the consistency of the states of each agent through the approximation of the behavior of the reference model by the state of the agent.

[0021] refer to Figure 1-Figure 2 , the optimal consistency control me...

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Abstract

The invention discloses the optimal consistency control method and system of a nonlinear multi-agent system. The method is characterized by establishing a reference behavior model according to the individual dynamic characteristic of a heterogeneous multi-agent system, and using a leader-follower control model to form a multi-agent system formed by reference behavior models; then, constructing a dynamic graph game global error dynamical model according to the network topology structure of multiple agents, defining a multi-agent local performance index function, and according to the global Nashequilibrium, acquiring a Bellman optimal equation; and then, under the condition of only using local agent information, using an execution-evaluation execution network framework mode based on value function approximation to carry out online iterative learning, and acquiring an optimal consistency protocol to achieve the consistency of each reference model behavior. Compared with the prior art, byusing the method and the system of the invention, under the condition of guaranteeing optimal control performance, the consistency problem of the complex multi-agent system can be high-efficiently solved, and an actual application value and high scalability are achieved.

Description

technical field [0001] The invention relates to the technical field of multi-agent control, in particular to an optimal consistency control method and system for complex nonlinear multi-agent systems. Background technique [0002] In recent years, the distributed coordination of multi-agent systems has attracted the attention of many scholars, mainly involving unmanned aerial vehicles, power systems, distributed sensors, multi-robot production lines, electromagnetic management and other fields. The optimal consensus control problem is a popular and challenging topic in multi-agent cooperative control, and it is also an extremely important direction in the research of complex systems. [0003] Consistency problem is a kind of basic problem in the research of multi-agent system. In practical engineering applications, according to factors such as performance requirements and task types and individual design control rules, through mutual coordination among individuals, a certai...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈鑫符浩
Owner CHINA UNIV OF GEOSCIENCES (WUHAN)
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