A Cooperative Control Method Based on PD Structure and Neighbor Delayed Control Signal
A control signal and cooperative control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as practical application difficulties, discontinuous control input, complex control strategy structure, etc., and achieve easy calculation and verification , low communication cost and simple structure
Active Publication Date: 2022-01-25
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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Problems solved by technology
The sliding mode controller can continuously change according to the current state of the system in the dynamic process, forcing the system to move according to the predetermined "sliding mode" trajectory. However, this control input is discontinuous, which causes certain difficulties for practical applications.
Adaptive controllers need to use parameter estimators to continuously extract information about the model to improve the model, and output regulation controllers need to use asymptotic observers to estimate external reference signals and disturbances. The above two control strategy structures are relatively complex
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Embodiment Construction
[0065] The design goal of the present invention is to design a distributed controller to solve the problem of synchronous trajectory tracking of a multi-agent system.
[0066] In the specific implementation, the closed-loop control system experiment platform is built by using the Simulink toolbox in Matlab, including: multi-agent system, that is, the dynamic model of the follower and the dynamic model of the leader; distributed controller. Second, choose different control law parameters τ,k P ,k D , and compare and analyze the tracking and synchronization effects of each agent under different parameters.
[0067] Its specific implementation steps are as follows:
[0068] The first step is to calculate c according to the communication topology diagram of the multi-agent system k
[0069] First, assume two communication topologies, such as figure 1 and figure 2 shown, and then calculate c k range, get k P ,k D Conditions that need to be met.
[0070] The second step i...
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Aiming at the problem of synchronous trajectory tracking of second-order multi-agents, the present invention proposes a cooperative control method based on PD structure and neighbor lag control signal. The present invention belongs to the technical field of cooperative control, and mainly adopts neighbor input information (CIIN) and Proportional-derivative (PD) control of the local neighborhood synchronization error signal (LNSE) to construct a controller. This controller design method has the advantages of high control precision, low communication cost and continuous control signal. The idea of the present invention is: firstly, a tracking error signal and a local neighborhood synchronization error signal are constructed. Secondly, a distributed controller is designed by using the neighbor control input information in the past time and the local neighborhood synchronization error signal. Finally, the controller parameters are determined according to an inequality condition, and the proportional and differential control gain conditions to ensure the stability of the system are given. The form is simple and easy to calculate and verify.
Description
technical field [0001] The invention belongs to the technical field of collaborative control, and mainly aims at the problem of synchronous tracking of the trajectory of the second-order multi-agent system. Proportional-derivative (PD) control of the error signal (LNSE) to construct the controller. Background technique [0002] A multi-agent system is a system composed of multiple interactive intelligent agents, which can solve large-scale and complex real-world problems through mutual communication and coordination. Since the cooperative control of a multi-agent system is more robust, flexible and economical than a single individual, the research on multi-agent cooperative tracking control is widely used in the fields of space exploration, mobile robot cooperation, formation control, and consistent vehicle scheduling. have been widely applied. [0003] In actual engineering, the multi-agent system is generally large in scale. Due to the limitations of sensors and communic...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 朱波陈敬阳田秋扬彭琛
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA