Multi-agent event-driven formation control system and method

Abstract

The invention relates to a multi-agent event-driven formation control system. The system comprises a leader and a plurality of followers, wherein the leader is in communication with at least one follower and is used for generating a first follow instruction according to first action information; the followers are in communication with one another and are used for generating a second follow instruction according to second action information and the first follow instruction or generating the second follow instruction according to a third follow instruction and the second action information and realizing a preset formation according to the second following instruction. The multi-agent event-driven formation control system is a nonlinear multi-agent formation control system; compared with existing linear multi-agent formation control systems, the system has the advantages that the application scope is expanded, and the system is more conductive to practical application.

Description

technical field [0001] The invention belongs to the technical field of multi-agent control, and in particular relates to a multi-agent event-driven formation control system and method. Background technique [0002] Agent is a very important concept in the field of artificial intelligence. Any independent entity that can think and interact with the environment can be abstracted as an agent. A multi-agent system is a collection of multiple agents, and its goal is to build a large and complex system into a small, inter-communicating and coordinating system that is easy to manage. As an important branch of artificial intelligence, multi-agent system has been widely concerned by people. The multi-agent system has the performance of autonomous coordinated control and distributed control, and has the ability of self-organization, learning and reasoning and prediction. [0003] The study of multi-agent systems is inspired by the behavior of biological clusters in nature, such as ...

AI Technical Summary

Problems solved by technology

However, the existing formation control technology has the following deficiencies: First, most formation control research is limited to multi-agent systems with known models, but it is difficult to obtain accurate models of agents in practical applications, resulting in most of the research It is difficult to apply the results to the actual control system

Second, for multi-agent systems with unknown dynamics, the proposed adaptive formation control is limited to multi-agent systems where the unknown dynamics satisfy the matching conditions, that is, the unknown dynamics of the agents can be feed-forward compensated by the controller

Third, the existing formation control research belongs to the time-driven control method. The system updates the controller with a fixed period of sampling, which will cause the controller to still be updated when the system has achieved the desired formation control, resulting in a waste of system resources.

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