Multi-agent consistency control method based on event triggering

An event-triggered, multi-agent technology, applied in the direction of program control, computer control, general control system, etc., can solve the problems of waste of resources, reduce the communication load of agents, huge problems, etc., reduce the update burden and solve the problem of network communication load , the effect of improving the service life

Active Publication Date: 2019-12-20
TONGJI ARTIFICIAL INTELLIGENCE RES INST SUZHOU CO LTD
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AI Technical Summary

Problems solved by technology

Consistency control of agents consumes a huge amount of energy in communication. Frequent data communication between existing agents will cause a lot of unnecessary data transmission, resulting in a waste of resources.
Therefore, the introduction of an event trigger mechanism can reduce the communication load between agents; at the same time, the continuous update of the controller will increase the update burden of the controller, thereby reducing the service life of the agent system

Method used

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  • Multi-agent consistency control method based on event triggering
  • Multi-agent consistency control method based on event triggering
  • Multi-agent consistency control method based on event triggering

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Embodiment Construction

[0059] Below in conjunction with accompanying drawing and embodiment example, the present invention will be further described:

[0060] A multi-agent consensus control method based on event triggering, comprising:

[0061] S1. Establish a general linear multi-agent dynamic model, and design a distributed controller through the information of the agent node itself and the information of its neighbor agent nodes (through the communication network protocol) to ensure the consistency of the multi-agents.

[0062] Establishing a general linear multi-agent dynamics model includes: assuming that there are N agents, the i-th agent dynamics model is:

[0063]

[0064] where: X i (t) ∈ R n , u i (t)∈R m represent the state and control input of the agent, respectively,

[0065] A∈R n×n , B ∈ R n×m is a constant system matrix. In this embodiment: the general linear multi-agent dynamics model includes a second-order model, and the constant system matrix (A, B) is assumed to be s...

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Abstract

The invention relates to a multi-agent consistency control method based on event triggering. The method includes: establishing a general linear multi-agent dynamics model, and designing a distributedcontroller through information of agents nodes and information of neighbor agent nodes thereof to ensure consistency of multiple agents; and designing a communication strategy, which is based on eventtriggering, to ensure communication discontinuity among the agents. The method realizes consistency control of a multi-agent system, solves the problem of large network communication loads caused bycontinuous information exchanging among the agents, reduces updating burden of the system controller, and improves service life of the agent system.

Description

technical field [0001] The invention relates to the technical field of intelligent cooperative control, in particular to an event-triggered multi-agent consistency control method. Background technique [0002] Cooperative consensus control among multi-agents is a basic problem in the intelligent cooperative control neighborhood. By realizing multi-agent consensus control, complex collaborative tasks such as distributed optimization, distributed formation, and distributed filtering can be completed. By triggering the cooperative control algorithm through the events among the agents, the cooperative ability between the agents can be effectively improved, and the energy consumption of the multi-agent system can be reduced. [0003] Multi-agent consensus control uses a distributed control method, which can better avoid the use of global information, thereby improving the stability and robustness of the cooperative control of agents, so it is widely used in the consensus problem...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/25257
Inventor 王祝萍张皓吴永辉
Owner TONGJI ARTIFICIAL INTELLIGENCE RES INST SUZHOU CO LTD
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