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Method for controlling finite time of discrete networked multi-agent system having communication delay

A multi-agent system and finite time technology, applied in the field of control, can solve problems that affect finite time control performance and cannot actively compensate network communication time lag, etc., to achieve the effect of active network communication time lag and compensation of network communication time lag

Inactive Publication Date: 2019-03-29
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention solves the problem that the existing finite-time control method of the discrete networked multi-agent system cannot actively compensate network communication time lag and thus affect the finite-time control performance

Method used

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  • Method for controlling finite time of discrete networked multi-agent system having communication delay
  • Method for controlling finite time of discrete networked multi-agent system having communication delay
  • Method for controlling finite time of discrete networked multi-agent system having communication delay

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Experimental program
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Effect test

specific Embodiment approach 1

[0048] Specific implementation mode 1. Combination figure 1 To describe this embodiment,

[0049] A finite-time control method for a discrete networked multi-agent system with communication time delay, comprising the following steps:

[0050] Step 1. Establishing a dynamic model of a discrete networked multi-agent system with communication time delay;

[0051] A dynamic model of a discrete networked multi-agent system with constant communication time delay and N agents is established, where the state space of agent i is described as:

[0052]

[0053] where x i (k) is the state variable of agent i at time k, k=0,1,2,...; x i (k+1) is the state variable of agent i at time k+1, x i (0) is the state of agent i at the initial moment, x i0 is the initial value of the state of the agent i at the initial moment, i=1,2,...,N; u i (k) is the control input of agent i at time k, y i (k) is the measurement output of agent i at time k; A is the system matrix, B is the input matri...

Embodiment

[0082] Adopt the method described in specific embodiment one to carry out simulation:

[0083] System parameters:

[0084]

[0085] Furthermore, given N=4, M=10, γ=1.001, c 1 = 1,c 2 The initial value of is 20;

[0086] communication topology such as figure 2 shown;

[0087] Next, use the method of the present invention to carry out finite time control on the discrete networked multi-agent system, and control the parameter c 2 optimize:

[0088] Case 1: The communication network has no communication time lag, that is, τ=0;

[0089] State estimation gain matrix L and state feedback gain matrix K are solved:

[0090] For formula (5), formula (6), formula (7), formula (8) and

[0091]

[0092] Solve to obtain the state feedback gain matrix K and state estimation gain matrix L as follows

[0093]

[0094] Finite-time control effects on discrete networked multi-agent systems with no communication delays:

[0095]Formula (5), formula (6), formula (7), formula (...

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Abstract

The invention discloses a method for controlling the finite time of a discrete networked multi-agent system having a communication delay, and relates to a method for controlling the finite time of a discrete multi-agent system. The method solves the problem that the current method for controlling the finite time of the discrete networked multi-agent system cannot actively compensate the network communication delay and affect the control performance of the finite time. The method comprises: establishing a networked prediction model based on a dynamic model of the established discrete networkedmulti-agent system; obtaining a prediction state of the neighboring agent according to a networked prediction model, and designing a distributed protocol to obtain a closed loop system; obtaining an observer gain L and a state feedback gain K based on a bounded sufficient condition of the finite time of the discrete networked multi-agent system having a communication delay, and respectively substituting into the networked prediction model and the distributed protocol to control the finite time of the discrete networked multi-agent system having the communication delay. The method for controlling the finite time of the discrete networked multi-agent system having the communication delay is suitable for controlling the finite time of the discrete networked multi-agent system.

Description

technical field [0001] The invention belongs to the field of control, and in particular relates to a finite-time control method of a discrete multi-agent system. Background technique [0002] The research on multi-agent system collaboration technology is a frontier research topic in the field of control. A multi-agent system is composed of a certain number of autonomous individuals through mutual cooperation and self-organization, presenting orderly coordinated movements and behaviors at the collective level. This kind of behavior can enable the group system to achieve certain complex functions, showing a clear collective "intention" or "purpose". The rapid development of multi-agent systems provides modeling and analysis methods for the study of complex systems on the one hand, and provides a theoretical basis for a wide range of practical applications on the other hand. Compared with the traditional single system application, the collaborative work ability of the multi-a...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 谭冲
Owner HARBIN UNIV OF SCI & TECH
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