Consistency control method for time-delay multi-agent systems based on pid

A multi-agent system and control method technology, applied to controllers with specific characteristics, electric controllers, etc., can solve problems such as communication delays, achieve flexible control methods, achieve consistent control, and reduce conservatism.

Active Publication Date: 2022-06-21
NANJING UNIV OF SCI & TECH
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, in practical applications, the topology of multi-agents is usually directed, and there is a communication delay. The traditional consensus control method based on the PID control protocol is no longer applicable.

Method used

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  • Consistency control method for time-delay multi-agent systems based on pid
  • Consistency control method for time-delay multi-agent systems based on pid
  • Consistency control method for time-delay multi-agent systems based on pid

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Embodiment

[0070] Consider a multi-agent system composed of 4 agents, the system topology diagram is as follows figure 2 shown. The parameters of the given PID control protocol are α=0.2, β=0.1, γ=0.2, when τ=0.01, the positive definite matrices P, Q, R, W are obtained. Given an initial value z 1 =[8,-5,-8] T ,z 2 =[-10,9,5] T ,z 3 =[6,9,6] T , z 4 =[7,8,-4] T , x 1 =[7,6,8] T , x 2 =[10,-10,-7] T , x 3 =[-5,4,4] T , x 4 =[-5,6,5] T , the system (1) under the action of the control protocol (5), the state curve x of each agent i1 , x i2 , x i3 respectively as Figure 3-5 shown. from Figure 3-5 It can be seen that under the PID control protocol, the state values ​​of each agent in the multi-intelligent system tend to be the same, that is, the consistency is gradually achieved, which verifies the effectiveness of the control protocol designed in the present invention.

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Abstract

The invention discloses a consistency control method of a PID-based time-delay multi-agent system, constructs a mathematical model of a first-order time-delay multi-agent system; analyzes the information exchange relationship between various agents in the multi-agent system, Use the directed graph to construct the topology of the multi-agent system, determine the system adjacency matrix and Laplacian matrix; construct the PID control protocol for each agent, and convert the first-order time-delay multi-agent system into a reduced order through the unitary matrix System; select the parameters of the PI controller to control the stability of the reduced-order system, and realize the consistency of the first-order time-delay multi-agent system. The control protocol adopted in the present invention is in the form of PID, which can be controlled and adjusted through three parameters, and the control mode is more flexible, and while realizing consistent control, the conservatism is reduced through the triple integral term.

Description

technical field [0001] The invention belongs to the field of intelligent control, and particularly relates to a PID-based time-delay multi-agent system consistency control method. Background technique [0002] Time-delay multi-agent systems are widely used in distributed artificial intelligence research fields such as satellite formations, sensor networks, and UAV flight control. The consistency of the multi-agent system is the basis for the mutual cooperation between the various agents. Through a reasonable control protocol, the state of each agent will gradually become consistent over time, and the same task will be completed in coordination. The literature (Chong-Xiao Shi, Guang-Hong Yang, Robust consensus control for a classofmulti-agent systems via distributed PID algorithm and weighted edgedynamics) pointed out that in the existing consensus control methods based on PID control protocols, only the undirected and timeless In the case of hysteresis, the PID control meth...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 马倩王琦郭飞钱康李恩扬
Owner NANJING UNIV OF SCI & TECH
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