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Leader-follower ratio consistency control method of two-order multi-agent system

A multi-agent system, multi-agent technology, applied in the direction of adaptive control, general control system, control/regulation system, etc.

Active Publication Date: 2018-11-27
EAST CHINA JIAOTONG UNIVERSITY
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AI Technical Summary

Problems solved by technology

However, in many practical applications, the state of multi-agents is expected to converge to an equilibrium point at a specific ratio, rather than reaching a common value, so the study of ratio consistency is a problem of great interest to experts in the current control field

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Embodiment Construction

[0040] The specific embodiment of the present invention is as Figure 4 shown. In this embodiment, a leader-follower proportional consistency control method for a second-order multi-agent system includes the following steps:

[0041] (1) Determine the directed spanning tree structure with the leader as the root node;

[0042] (2) Set the proportional parameters for the follower agent in advance, so that the multi-agent state can achieve the desired proportional relationship;

[0043] (3) Design a leader-follower proportional consensus protocol for the individual following agent, so that the state of the following agent can achieve proportional consistency.

[0044] The main research conclusion of the consensus problem of multi-agents is that some key information of all agents in the same topological network is consistent. However, in collaborative control, in the presence of different task assignments and physical variables, in order to complete the collaborative task, the ...

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Abstract

The invention provides a leader-follower ratio consistency control method of a two-order multi-agent system. Following agents and leaders are determined according to a network topological structure; adirected generation tree structure using leaders as root nodes is determined; secondarily, the multi-agent state ratio relationship is realized according to the expectation; the proportional parameter is selected for the following agents, so that the two-order multi-agent state reaches the expected specified proportion relationship; finally, under the condition that one or a plurality of following agents can obtain the leader information, a leader-follower ratio consistency protocol is designed; the goal of strictly following the state of a leader according to a certain ratio in a way of following the agent state is achieved, so that the state of all following agents realizes the ratio consistency.

Description

technical field [0001] The present invention relates to a leadership-following ratio consistency control method for a second-order multi-agent system, in particular to a leadership-following ratio consistency control method for a second-order multi-agent system based on directed topology, which belongs to multi-intelligence body technology field. Background technique [0002] Cooperative control of multi-agent systems has a wide range of applications in satellites, unmanned aerial vehicles, and transportation. Consistency has attracted the attention of many researchers and extensive research has been carried out on it. As we all know, the current consensus algorithms can be simply divided into two categories, the first category is the consensus algorithm without a leader, and the second category is the consensus algorithm with a leader. In the past ten years, based on Jadbabaie A, Lin J, Morse A S (Coordination of groups of mobile autonomous agents using nearest neighbor r...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈世明张正
Owner EAST CHINA JIAOTONG UNIVERSITY
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