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Fixed-time consistency tracking control method of second-order multi-agent system under directed communication

A multi-agent system, consistent technology, applied in general control systems, control/regulator systems, complex mathematical operations, etc. The effect of controlling gain and reducing consumption

Inactive Publication Date: 2019-08-13
NORTHWESTERN POLYTECHNICAL UNIV
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  • Claims
  • Application Information

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Problems solved by technology

However, due to the nonlinear characteristics of the fixed-time consensus protocol and the asymmetry of directed communication, the existing fixed-time consensus control protocol for undirected communication is extended to solve the second-order multi-agent system consensus tracking under directed communication It is difficult, and many problems need to be solved, such as, constructing a suitable Lyapunov function to analyze the stability at fixed time, designing a distributed observer at fixed time under directed communication, and controlling the singularity problem

Method used

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  • Fixed-time consistency tracking control method of second-order multi-agent system under directed communication
  • Fixed-time consistency tracking control method of second-order multi-agent system under directed communication
  • Fixed-time consistency tracking control method of second-order multi-agent system under directed communication

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Embodiment

[0079] Embodiment: Consistency tracking control of single-link manipulator multi-agent system when fixed

[0080] In order to complete command actions with higher quality and efficiency, it is necessary to develop a fast and accurate coordinated control method for single-link manipulator systems, which is of great significance for improving the quality and efficiency of completing command actions and improving the level of industrial automation in my country. Taking the single-link manipulator multi-agent system as an example, the effectiveness of the designed fixed-time consistent tracking control scheme is illustrated. The multi-agent system consists of 1 leader agent and 4 follower agents, and its communication topology is as follows: figure 2 As shown in the figure, it can be seen that the transmission of information is directional. The following differential equations describe the dynamics of the follower agent:

[0081]

[0082] Among them, q i represents the angu...

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Abstract

The invention relates to a fixed-time consistency tracking control method of a second-order multi-agent system under directed communication. The method comprises the steps of: (1) designing a fixed-time distributed observer for each follower, so that each follower obtains the state information of a leader within a fixed time; (2) determining an expression of an upper bound of an observation time;(3) designing a fixed-time non-singular terminal sliding mode consistency control protocol, so that a follower multi-agent system can track the trajectory of a leader multi-agent system within the fixed time; and (4) determining the expression of the upper bound of a convergence time. Compared with the existing fixed-time consistency scheme, the fixed-time consistency tracking control method provided by the invention has the advantages of reducing the communication resource consumption and the channel requirements, reducing the cost, and improving the system reliability and the scalability ofthe consistency protocol.

Description

technical field [0001] The invention relates to the technical field of multi-agent system cooperative control, in particular to a method for consistent tracking control of a second-order multi-agent system under directed communication when it is fixed. Background technique [0002] In recent years, the swarm behavior of multi-agent systems has been widely studied, such as formation, dating, siege, swarming and swarming, tracking, consensus and other behaviors. As a basic and important clustering behavior, consistency tracking has received extensive attention. Consistency tracking aims to design a control protocol for each follower so that all followers follow the trajectory of the leader. [0003] Convergence rate is an important performance index for evaluating consensus protocols. Relevant literature improves the convergence speed by designing optimal weights or choosing a better interaction topology to improve algebraic connectivity. However, these control protocols ca...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05B19/418G05D1/12G06F17/16
CPCG05B13/042G05B19/418G05D1/12G06F17/16G05B2219/25232Y02P90/02
Inventor 倪骏康
Owner NORTHWESTERN POLYTECHNICAL UNIV
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