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A group consensus approach for heterogeneous networked multi-agent systems with time-varying delays

A multi-agent system, time-varying time-delay technology, applied in general control systems, control/regulation systems, instruments, etc., can solve problems that affect the convergence speed of the system, and achieve the effect of easy solution and implementation, and fast convergence speed of the system

Active Publication Date: 2022-03-01
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In order to solve the problem that in the existing heterogeneous networked multi-agent system with time-varying time-delay, outdated information is used to achieve system consistency and affect the convergence speed of the system, a heterogeneous networked multi-agent system with time-varying time-delay is provided. A Consistent Method for Grouping Agent Systems

Method used

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  • A group consensus approach for heterogeneous networked multi-agent systems with time-varying delays
  • A group consensus approach for heterogeneous networked multi-agent systems with time-varying delays
  • A group consensus approach for heterogeneous networked multi-agent systems with time-varying delays

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specific Embodiment approach 1

[0071] Specific implementation mode one: combine figure 1 A pair of this embodiment will be described. The method for the group consistency of the heterogeneous networked multi-agent system with time-varying time-delay described in this embodiment specifically includes the following steps:

[0072] Step 1. Establishing a discrete-time dynamic model of a heterogeneous networked multi-agent system with time-varying time-delay;

[0073] Step 2, constructing a state observer for the discrete-time dynamic model established in step 1, and performing state prediction;

[0074] Step 3. According to the state prediction of the discrete-time dynamic model of the heterogeneous networked multi-agent system with time-varying time-delay in step 2, design a group consistency control protocol;

[0075] Step 4. According to the group consistency control protocol designed in step 3, a compact expression form of the group state error equation and estimation error equation is obtained;

[0076]...

specific Embodiment approach 2

[0078] Specific implementation mode 2: The difference between this implementation mode and specific implementation mode 1 is that the step 1 is specifically:

[0079] For a network containing N+M agents N≥2, M≥2; the state of agent i is expressed as x i , i=1,2,…,N+M; each agent is a network A node of , the state of each node can represent the actual physical quantity, such as attitude, position, temperature, voltage, etc. The topology of this networked multi-agent system is a weighted directed graph, is the vertex set, is the edge set, is a non-negative weighted adjacency matrix; the index set of vertices is from vertex v i to vertex v j The directed edge of is denoted as ε ij =(v i ,v j ), j=1,2,…,N+M; corresponding to ε ij The adjacency matrix element a of ij is a non-zero real number, the vertex v i The neighborhood node set of is Laplace matrix Indicates that the element is l ij The (N+M)×(N+M) dimensional matrix, where,

[0080] The weighted ...

specific Embodiment approach 3

[0086] Specific embodiment 3: The difference between this embodiment and specific embodiment 2 is that the specific process of state prediction described in step 2 includes:

[0087] In a networked multi-agent system, agent i can receive information from itself and neighboring agent j, but there is a time-varying delay τ in the communication network ij (t); and is a known bounded function, τ 0 and τ are the lower and upper bounds respectively; the state prediction from time t-τ to time t is:

[0088]

[0089] in, R s is the s-dimensional real number space; Represents the predicted state of agent i at time t based on the information of agent i up to time t-τ, y i (t-τ) represents the output function of the i-th agent at time t-τ, L iDenotes the i-th observer gain matrix, Indicates the predicted output function of the i-th agent at time t-τ, L i Denotes the i-th observer gain matrix.

[0090] Other steps and parameters are the same as in the second embodiment. ...

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Abstract

The invention provides a method for consistent grouping of heterogeneous networked multi-agent systems with time-varying time-delay, and belongs to the technical field of networked multi-agent systems. The present invention first establishes a discrete-time dynamic model of a heterogeneous networked multi-agent system with time-varying time-delay, constructs a state observer, and performs state prediction; then designs a group consistency control protocol; and then controls according to the designed group consistency The compact expression form of the packet state error equation and estimation error equation is obtained; the state feedback matrix is ​​obtained based on the linear matrix inequality; finally, the obtained state feedback matrix is ​​substituted into the designed group consensus protocol to realize the heterogeneous network with time-varying delay The grouping of multi-agent systems is consistent. The invention solves the problem that in the existing heterogeneous networked multi-agent system with time-varying time-delay, outdated information is used to realize system consistency and affect the convergence speed of the system. The invention is suitable for group consistency design of high-order heterogeneous systems.

Description

technical field [0001] The invention relates to a grouping consistent method for a networked multi-agent system, and belongs to the technical field of a networked multi-agent system. Background technique [0002] The group consistency problem is an emerging problem in the research of networked multi-agent systems, and has important applications in multi-robot formations, joint reconnaissance and search of UAVs, and wireless sensors. [0003] At present, the existing group consensus design methods, for multi-agent systems with time delay, mostly adopt the analysis method of system theory, passively reduce the delay, use outdated information to achieve system consistency, and affect the system convergence speed, which is very conservative sex. Contents of the invention [0004] In order to solve the problem that in the existing heterogeneous networked multi-agent system with time-varying time-delay, outdated information is used to achieve system consistency and affect the c...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 谭冲岳靓
Owner HARBIN UNIV OF SCI & TECH
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