Specific performance based consistency control method for multiple intelligent agents

Abstract

The invention discloses a specific performance based consistency control method for multiple intelligent agents. The control method comprises that the intelligent agents as communication nodes establish a communication topology; neighbor node and self state information is obtained according to the communication topology; the state information includes the position and speed; a tracking error of aleader is calculated according to the state information; the specific performance of the tracking error is transformed via a design performance function, and a transformed error model is obtained; andaccording to the transformed error model, an event triggering adaptive controller of a follower is designed via a backstepping method and a dynamic surface technology, an event triggering mechanism is designed, and specific performance based consistency control for the intelligent agents is realized. A system can obtain expected transient performance and stable error in the control process rapidly and precisely, the communication cost among the intelligent agents can be reduced, the application range is wide, and the application value is high.

Description

technical field [0001] The invention relates to the field of unmanned system control, and more specifically, relates to a multi-agent consensus event-triggered adaptive control based on specified performance. Background technique [0002] With the development of industrial and military applications, more and more tasks need to be completed by multiple agents, so the distributed cooperative control technology of multi-agents has been developed rapidly. The distributed cooperative control of multi-agents only needs to receive local information between agents, which greatly reduces communication costs and energy consumption, and has better flexibility and robustness, so it is widely used in robot teams, wireless Fields such as human-machine formation and sensor networks. Distributed cooperative control mainly includes consistency problems, cluster problems, formation problems and so on. Among them, the consistency tracking problem, as a basic problem of collaborative control,...

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Problems solved by technology

[0005] In summary, although the existing multi-agent event-triggered control can further reduce the communication cost between agents and reduce energy consumption, it still lacks performance indicators such as convergence rate, maximum overshoot, and steady-state error to reach the expected value. Ability

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