Group consistency control method for heterogeneous multi-agent system with time delay

Abstract

The invention discloses a group consistency control method for a heterogeneous multi-agent system with arbitrary bounded time delay, and the method comprises the following steps of constructing mathematical models of a first-order system and a second-order system, determining a topology of the multi-agent system, and describing its topological relationship by using graph theory knowledge; designing a control protocol of heterogeneous multi-agent system with time delay; analyzing the consistency problem of the system by using the properties of matrix theory and non-negative matrix to obtain a system convergence condition; determining a control protocol scaling parameter that meets the system convergence condition, and substituting the parameter into the system control protocol to implementthe group consistency control of the system. The invention provides the group consistency control method for the heterogeneous multi-agent system with arbitrary bounded time delay, and the method solves the global control problem by a distributed control method with no need of global information of the system, and only requires joint connection of topological graphs of the system at the same timewithout requiring their sub-graphs to be connected, thereby improving the robustness of the system and being suitable for group consistency control of heterogeneous multi-agent systems with arbitrarybounded delays.

Description

Technical field [0001] The invention belongs to the field of intelligent control. More specifically, the present invention relates to a group consistency control method of a heterogeneous multi-agent system with time delay. Background technique [0002] The distributed coordinated control of multi-agent systems has received extensive attention due to its wide application in formation control, cluster control, and flock control. Compared with distributed control, centralized control requires each node to have a network communication with a good connection with the central controller. However, due to the influence of communication delay and other factors in practical applications, centralized control is often difficult to achieve the predetermined Control effect, and due to the possible single point of failure, centralized control has a higher probability of failure than distributed control. Distributed control reduces the impact of the communication time lag between the central ...

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