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
CN110376889BActive Publication Date: 2022-03-01HARBIN UNIV OF SCI & TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
HARBIN UNIV OF SCI & TECH
Publication Date
2022-03-01

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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solves the problem that in the existing heterogeneous networked multi-agent system with time-varying time-delay, outdated information is used to realize system consistency and affect the convergence speed of the system.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.
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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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