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Control method for mixed trigger consistency of uncertain multi-agent systems with time delay and switching topologies

A multi-agent system and control method technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of consistency and uncertainty of uncertain multi-agent systems

Active Publication Date: 2019-10-08
SHENYANG AEROSPACE UNIVERSITY
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  • Application Information

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Problems solved by technology

[0007] The present invention provides a multi-agent system consistency control method based on a hybrid trigger mechanism in order to solve the problem of uncertain multi-agent system consistency based on a hybrid trigger mechanism under uncertain switching topology and delay

Method used

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  • Control method for mixed trigger consistency of uncertain multi-agent systems with time delay and switching topologies
  • Control method for mixed trigger consistency of uncertain multi-agent systems with time delay and switching topologies
  • Control method for mixed trigger consistency of uncertain multi-agent systems with time delay and switching topologies

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Embodiment Construction

[0118] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

[0119] Step 1: Establishment of the motion model of the uncertain multi-agent system

[0120] Consider the following motion model for an uncertain multi-agent system:

[0121]

[0122] where x i is the position of the i-th agent, b is the damping constant, and c is the spring constant.

[0123] Step 2: Consistency controller design and system closed-loop equation establishment

[0124] The controller design is as follows:

[0125]

[0126] In this equation, k is a constant gain, used to calculate the desired distance Substitute (36) into (35) to get:

[0127]

[0128]

[0129] according to figure 2 The Laplacian matrix can be obtained as follows:

[0130]

[0131] Let π pq = 1, ε pq =±0.1, then we can get:

[0132]

[0133] Step 3: Consistency realization of the closed-loop multi-uncertain multi-agent system ...

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Abstract

The invention discloses a control method for mixed trigger consistency of uncertain multi-agent systems with time delays and switching topologies, aims at the mixed trigger consistency problems of theuncertain multi-agent systems with time delays and switching topologies, and belongs to the technical field of multi-agent consistency control. Control problems for the mixed trigger consistency of the uncertain multi-agent systems with time delay and switching topologies are researched. A mixed trigger mechanism is described by adoption of a Bernoulli variable, so that the burden of the networktransmission is lightened. A mathematic model for closed-loop uncertain multi-agent systems is established. A sufficient condition for making the control systems consistent is given on the basis of aLyapunov stability theory and a linear matrix inequality theory. The switching of topologies in the systems is described by utilizing a Markov hop with an uncertain transfer rate. According to the control method, the consistency of the uncertain multi-agent systems can be realized through analyzing the influences, on the systems, of time-varying time delays and uncertain switching topologies, andthe calculation is simple and effective.

Description

technical field [0001] The invention belongs to the technical field of multi-agent cooperative consensus control, and specifically relates to an uncertain multi-agent system consistency control method based on a mixed trigger mechanism under uncertain switching topology and time delay. Background technique [0002] In the past ten years, the cooperative control of distributed multi-agent network system has attracted widespread attention due to its wide application, such as transportation control, multi-robot search and rescue, and multi-intelligent vehicle formation control. The consensus problem is one of the fundamental problems in distributed multi-agent systems. Consistency problems imply that some variables of all agents in a multi-agent system must eventually converge to the same state. Researchers have studied various aspects of consensus theory, including multi-agent consensus theory in the case of fixed / dynamic topology, consensus theory for time-delay systems, inf...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 陈侠尹立远
Owner SHENYANG AEROSPACE UNIVERSITY
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