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Multi-agent formation control method and system under interference environment

A multi-agent, control method technology, applied in control/regulation systems, two-dimensional position/channel control, comprehensive factory control, etc., can solve the problem of shortening the effective communication distance and the inability of multi-agent to realize formation coordination control, etc. problems, to achieve the effect of improving flexibility and reliability, simple control logic, and high environmental adaptability

Active Publication Date: 2019-07-26
ELECTRIC POWER RES INST OF STATE GRID ZHEJIANG ELECTRIC POWER COMAPNY +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Most of the existing research assumes that the communication network of the multi-agent system is ideal and unlimited, but when the multi-agent system is in an actual complex application scenario, the effective communication distance will be shortened due to the interference of the communication system. Coordinated formation control cannot be achieved with multiple agents

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  • Multi-agent formation control method and system under interference environment
  • Multi-agent formation control method and system under interference environment
  • Multi-agent formation control method and system under interference environment

Examples

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Embodiment 1

[0041] The present embodiment provides a multi-agent formation control method in an interference environment, which includes the following steps:

[0042] 1) The multi-agent formation control is decomposed into speed direction control and speed size control; when each agent starts to move towards the target point, the movement of the agent is controlled by the normal acceleration, so that the speed direction angle of the agent converges to the desired angle , to realize the speed and direction control of each agent;

[0043] 2) During the terminal movement of multi-agents, each agent communicates with each other in the interference environment, and controls the speed according to the remaining movement distance;

[0044] 3) According to the remaining movement distance, the movement speed of each agent, whether the agents communicate with each other and the control gain constant, design the multi-agent cooperative control strategy, and adjust the linear acceleration of each age...

Embodiment 2

[0077] This embodiment provides a multi-agent formation control system in an interference environment, which includes:

[0078] Decomposition unit: decompose the multi-agent formation control into speed direction control and speed size control;

[0079] Speed ​​direction control unit: when each agent starts to move towards the target point, the movement of the agent is controlled through the normal acceleration, so that the speed direction angle of the agent converges to the desired angle, and the speed direction control of each agent is realized;

[0080] Speed ​​size control unit: During the terminal movement of multi-agents, each agent communicates with each other in the interference environment, and controls the speed according to the remaining moving distance;

[0081] Cooperative control unit: Design multi-agent cooperative control strategy according to the remaining movement distance, the movement speed of each agent, whether the agents communicate with each other, and ...

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Abstract

The invention discloses a multi-agent formation control method and system under an interference environment. The control method comprises the following steps that: 1) decomposing multi-agent formationcontrol into speed direction control and speed magnitude control, when each agent begins to move to a target point, through normal acceleration, controlling the movement of the agent, enabling the speed direction angle of the agent to be converged to an expected angle, and realizing the speed direction control of each agent; 2) in the tail end movement of multiple agents, enabling each agent to be mutually communicated under the interference environment, and according to residual movement distances, controlling the speed; and 3) according to the residual movement distances, the movement rateof each agent and a control gain constant and according to whether the agents are communicated or not, designing a multi-agent cooperative control strategy. By use of the control method, each agent only needs to obtain the state information of a small quantity of of adjacent agents to realize formation control, requirements on the communication capability of the agent are greatly lowered, and theflexibility and the reliability of the system are improved.

Description

technical field [0001] The invention relates to the field of multi-agent formation control, in particular to a multi-agent formation control method and system in an interference environment. Background technique [0002] A multi-agent system is a collection of multiple agents with basic behaviors, which can coordinate the behavior of a group of autonomous agents and complete the desired tasks through coordinated actions. In many applications in the field of multi-agents, it is required that the multi-agents maintain a certain formation during the movement process, that is, the problem of formation control. [0003] Most of the existing research assumes that the communication network of the multi-agent system is ideal and unlimited, but when the multi-agent system is in an actual complex application scenario, the effective communication distance will be shortened due to the interference of the communication system. Multi-agents cannot realize formation cooperative control. ...

Claims

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Application Information

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IPC IPC(8): G05D1/02G05D1/10
CPCG05D1/0088G05D1/0223G05D1/0293G05D1/104Y02P90/02
Inventor 蔡钧宇尹峰苏烨陈波丁宁
Owner ELECTRIC POWER RES INST OF STATE GRID ZHEJIANG ELECTRIC POWER COMAPNY