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Predetermined time multi-agent system consistency tracking control method

A multi-agent system, tracking control technology, applied in the direction of using feedback control, etc., can solve the problem that no literature has proposed a predetermined time consistency control protocol, and achieve the effect of reducing conservatism, improving flexibility, and low conservatism

Inactive Publication Date: 2019-08-02
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

So far, no literature has proposed a scheduled time consistency control protocol

Method used

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  • Predetermined time multi-agent system consistency tracking control method
  • Predetermined time multi-agent system consistency tracking control method
  • Predetermined time multi-agent system consistency tracking control method

Examples

Experimental program
Comparison scheme
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Embodiment

[0061] Embodiment: Single-link manipulator multi-agent system scheduled time consistency tracking control

[0062] The single-link manipulator system is an important system in the field of industrial automation. The accuracy and rapidity of its coordinated control are of great significance to improve the efficiency and quality of completing action instructions. The level of industrial automation in my country is of great significance. Taking the single-link manipulator multi-agent system as an example to illustrate the effectiveness of the above-mentioned predetermined time consistent tracking control method. The single-link manipulator multi-agent system is composed of 3 follower agents and 1 leader agent, and its interaction topology is as follows: figure 2 shown. The dynamics of a follower agent can be described as:

[0063]

[0064] in, q i represent the angular acceleration, angular velocity and angular position of the i-th connection, J i Indicates the total mo...

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Abstract

The invention relates to a predetermined time multi-agent system consistency tracking control method. The method comprises the following steps: designing a predetermined time distributed observer to estimate a tracking error within predetermined time; determining distributed observer parameters according to preset time; designing a non-singular terminal sliding mode consistency control protocol inpreset time, so that the follower multi-agent system can track the track of the leader agent system in the preset time; determining controller parameters which can ensure the continuity and the microcosmic property of the sliding mode surface and eliminate the control singularity; and deploying the proposed distributed observer and consistency control protocol on each follower agent to realize predetermined time consistency tracking. Compared with an existing fixed-time consistency scheme, the method has the advantages that the convergence time estimation with lower conservative property canbe obtained, and the conservative property of controller design can be reduced. Therefore, the method disclosed by the invention shows a wide application prospect in the application of a multi-agent system with higher requirements on control precision and convergence time.

Description

technical field [0001] The invention relates to the technical field of cooperative control of multi-agent systems, in particular to a method for consistent tracking control of multi-agent systems at a predetermined time. Background technique [0002] In recent years, distributed cooperative control of multi-agent systems has been widely used in various fields, including coordinated control of networked robot operators, robot tracking and deployment, unmanned system formation and microgrid energy management. A basic problem of distributed cooperative control is to design a consensus protocol to make all agents synchronize through local communication, which is called the consensus problem. According to whether there is a leader in the system, the consistency problem can be divided into: leaderless consistency problem and consistency tracking problem. Leaderless consensus means that all agents converge to the average of the initial state or the weighted average of the initial ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D3/12
CPCG05D3/12
Inventor 倪骏康
Owner NORTHWESTERN POLYTECHNICAL UNIV
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