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Multi-agent formation tracking control method and system

A tracking control and multi-agent technology, applied in control/adjustment system, non-electric variable control, three-dimensional position/channel control, etc., can solve problems such as unknown range, control deviation, system failure, etc.

Active Publication Date: 2019-03-08
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

A fault generated by a certain agent may be transmitted to other individuals in the system through the communication topology, which may lead to the failure of the entire system
The actual situation is that the actuator will produce efficiency drop and control deviation, and the range of both is unknown, so the fault-tolerant control needs to adopt robust control method or adaptive control
An unavoidable constraint of the actuator is saturation, causing the control signal to exceed the actuator's saturation output bounds

Method used

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  • Multi-agent formation tracking control method and system
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  • Multi-agent formation tracking control method and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0121] figure 1 It is a method flowchart of an embodiment of the multi-agent formation tracking control method of the present invention.

[0122] see figure 1 , the multi-agent formation tracking control method, including:

[0123] Step 101: Obtain the position of each agent;

[0124] Step 102: Determine the leader, the follower, and the position status of each follower relative to the leader according to the position of each agent, so as to obtain the formation of agents;

[0125] Step 103: introducing an augmented object to establish a failure and saturation model of the agent formation;

[0126] Step 104: Taking the state of the leader as a reference, determine the objective function for realizing time-varying formation tracking by using the fault and saturation model;

[0127] Step 105: Using the output signal of the first-order filter and the output signal of the augmented object to establish an adaptive fault-tolerant control law under saturation constraints, deter...

Embodiment 2

[0173] S1: Determine the follower and leader, and verify the connectivity of the communication topology

[0174] In a multi-agent system, if an agent has no neighbors, it is called a leader, otherwise it is called a follower. A follower is said to be sensitive if its neighbor set contains all leaders, and a follower is said to be insensitive if there is no leader in its neighbor set.

[0175] In order to ensure the consistency of the track tracking of multiple leaders by followers, it is necessary to verify that the communication topology satisfies the following connectivity conditions: for any follower, there are only two states: sensitive and insensitive. Communication between followers is undirected. For every insensitive follower, there must be a connection path between a sensitive follower and it.

[0176] In the actual formation application, if there is a situation where the follower is connected to some leaders and followers at the same time, then it should avoid acce...

Embodiment 3

[0262] Figure 10 It is a system structure diagram of the multi-agent formation tracking control system of the present invention.

[0263] see Figure 10 , the multi-agent formation tracking control system, including:

[0264] Obtaining module 1001, for obtaining the position of each agent;

[0265] The formation module 1002 is used to determine the position status of the leader, the follower and each follower relative to the leader according to the position of each agent, so as to obtain the formation of agents;

[0266] The modeling module 1003 is used to introduce augmented objects and establish failure and saturation models of the agent formation;

[0267] An objective function determination module 1004, configured to use the state of the leader as a reference to determine the objective function for realizing time-varying formation tracking by using the fault and saturation model;

[0268] The control law determination module 1005 is used to use the output signal of th...

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Abstract

The invention discloses a multi-agent formation tracking control method and system. The method comprises the steps that the position of each agent is obtained; according to the position of each agent,the position status of a navigator, the position statuses of followers and the position status of each follower relative to the navigator are determined, thereby obtaining an agent formation; an augmented object is introduced, and a fault and saturation model of the agent formation is established; the status of the navigator is taken as reference to determine an objective function of time-varyingformation tracking based on the fault and saturation model; an adaptive fault-tolerant control law under saturation constraints is established by using an output signal of a first-order filter and anoutput signal of the augmented object, a parameter of the control law is determined, and an adaptive fault-tolerant and anti-saturation control law is obtained; the objective function is taken as a control target, and each agent is controlled according to the adaptive fault-tolerant and anti-saturation control law. The multi-agent formation tracking control method and system have the advantages that the convergence of the multi-agent formation tracking error is ensured, and even if in the case of the fault, a control signal is within the saturation boundary of an actuator.

Description

technical field [0001] The invention relates to the field of multi-agent systems, in particular to a multi-agent formation tracking control method and system. Background technique [0002] The multi-agent system has broad application prospects. It integrates multi-sensor technology, communication technology and collaborative control, and has incomparable advantages over single-agent systems. In many practical application scenarios, such as satellite navigation, robot control, search and rescue, multi-agent formation and tracking control are necessary technologies to achieve typical tasks. However, as the scale of the multi-agent system increases, the probability of individual actuator failures increases. Furthermore, if the multi-agent system is attacked, then there will be individuals with both actuator bias and inefficiency failures. Actuator failure is one factor to consider, another factor is the saturation characteristics of the actuator, which is determined by the ob...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G05D1/10
CPCG05D1/0291G05D1/104
Inventor 任章刘飞董希旺李清东吕金虎
Owner BEIHANG UNIV
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