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A fixed-time consistency tracking method for second-order multi-agent systems with directed communication

A multi-agent system and consistency technology, which is applied in the general control system, control/regulation system, comprehensive factory control, etc., can solve the problems of difficulty in tracking the consistency of the second-order multi-agent system, and reduce conservatism and strong Scalability and the effect of improving system reliability

Inactive Publication Date: 2021-12-21
NORTHWESTERN POLYTECHNICAL UNIV
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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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  • A fixed-time consistency tracking method for second-order multi-agent systems with directed communication
  • A fixed-time consistency tracking method for second-order multi-agent systems with directed communication
  • A fixed-time consistency tracking method for second-order multi-agent systems with 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 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 angular positio...

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Abstract

The invention relates to a fixed-time consistent tracking control method for a multi-agent system under directed communication, comprising: (1) designing a fixed-time distributed observer for each follower, so that each follower obtains a leader within a fixed time (2) Determine the expression of the upper bound of the observation time; (3) Design a fixed-time non-singular terminal sliding mode consensus control protocol, so that the follower multi-agent system can track the leader agent system within a fixed time (4) Determine the expression of the upper bound of the convergence time. Compared with the existing fixed-time consistency scheme, the present invention reduces communication resource consumption and channel requirements, saves costs, and improves system reliability and scalability of consistency protocols.

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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Patent Type & Authority Patents(China)
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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