Fractional order iterative control method of multi-agent system

A multi-agent system and multi-agent technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as repetitive motion and unsatisfactory production process

Inactive Publication Date: 2019-08-02
HANGZHOU DIANZI UNIV
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Problems solved by technology

Scholars at home and abroad have done a lot of research on the tracking control of agents, and most of the research involves the problem of asymptotic consistency, that is, multiple states in the system gradually become unified, but this is not the case in repetitive motion and unsatisfactory during production

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  • Fractional order iterative control method of multi-agent system
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[0123] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0124] On the contrary, the invention covers any alternatives, modifications, equivalent methods and schemes within the spirit and scope of the invention as defined by the claims. Further, in order to make the public have a better understanding of the present invention, some specific details are described in detail in the detailed description of the present invention below. The present invention can be fully understood by those skilled in the art without the description of these detailed parts.

[0125] see figure 1 , the technical solution of the present invention of the embodiment of the presen...

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Abstract

The invention discloses a fractional order iterative control method of a multi-agent system. The method comprises the following steps of converting a control problem of fractional order multi-agent coordination tracking into a stability control problem of a tracking error in a certain period of time; designing a PD-type iterative learning controller with an initial state learning capability; usinga norm to prove compact convergence of the tracking error; and carrying out data simulation verification on an analytical proof of S30, and carrying out theoretical verification on fractional order multi-agent of a 4-agent 1 virtual leader. In the invention, multi-agent convergence is analyzed and proved, and a convergence condition is deduced. Because of the convergence condition, with the increase of the number of iterations, all the tracking errors are ensured to be gradually reduced to a sufficiently small value.

Description

technical field [0001] The invention belongs to the technical field of multi-agent system control, and relates to a fractional-order iterative control method and system for a multi-agent system. Background technique [0002] Studies have shown that fractional calculus has better memory and genetics when faced with some complex problems such as polymer fluids, viscoelastic systems, and underwater motors. In recent years, the control of coordinated multi-agent systems has been widely used in various fields, and many problems have been raised on this basis. Among them, fractional-order multi-agent systems have become the focus of research because of their wide applicability and better stability. Scholars at home and abroad have done a lot of research on the tracking control of agents, and most of the research involves the problem of asymptotic consistency, that is, multiple states in the system gradually become unified, but this is not the case in repetitive motion and The pro...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 吕帅帅鄢毅心潘勉李训根刘敬彪彭时林史剑光
Owner HANGZHOU DIANZI UNIV
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