Multi-agent consistency tracking protocol design method suitable for multiple agents in communication under DoS attack

A multi-agent, design method technology, applied in the direction of instruments, three-dimensional position/channel control, control/regulation system, etc., can solve problems such as not seen, and achieve the effect of optimizing communication duration conditions

Active Publication Date: 2020-01-21
SOUTHEAST UNIV
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Problems solved by technology

For the research on multi-agent consistent tracking control in this intermittent communication environment, there is no relevant literature

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  • Multi-agent consistency tracking protocol design method suitable for multiple agents in communication under DoS attack
  • Multi-agent consistency tracking protocol design method suitable for multiple agents in communication under DoS attack
  • Multi-agent consistency tracking protocol design method suitable for multiple agents in communication under DoS attack

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Embodiment 1

[0090] Embodiment 1: a kind of multi-agent consistency tracking protocol design method applicable to communication subject to intermittent DoS attacks, said method comprises the following steps: figure 1 For the multi-agent under the intermittent DoS attack, construct the differential equation model of the agent. Its composition is specifically implemented as follows:

[0091] Step 1. Construct a differential equation model of the agent for N+1 agents whose communication is under intermittent DoS attack. The specific process is:

[0092] The dynamic model of the agent is first expressed as a linear fixed-length system, with x i (t)∈R n Indicates the state of the i-th agent, A∈R n×n Represents the system matrix, ΔA is the system uncertainty and satisfies the structure ΔA=DKE, K is the uncertain variable, expressed as a diagonal matrix, and satisfies K T K≤σ 2 I, σ are given constants, B∈R n×m represents the system input matrix, u i (t)∈R m for control input. The agent...

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Abstract

The invention discloses an uncertain multi-agent consistency tracking protocol design method for multiple agents in communication under DoS attack. The method comprises the following steps: for the multiple agents in communication under DoS attack, constructing a differential equation model of the agents; based on a switching system stability theory, transforming a multi-agent system consistency tracking problem into an asymptotic stability problem of a group of decoupling switching system; through a linear matrix inequality (LMI), constructing a decoupling switching system Lyapunov function,designing a multi-agent coordination consistency tracking protocol algorithm and communication duration proportion condition; and based on the linear matrix inequality (LMI) and the least communication duration proportion, designing the multi-agent consistency tracking protocol algorithm; and based on the linear matrix inequality (LMI) and the least communication duration proportion, designing a multi-agent rounding control algorithm.

Description

Technical field: [0001] The invention relates to a method for designing a multi-agent consensus tracking protocol in an intermittent communication environment. The consensus protocol algorithm based on the minimum communication duration ratio can realize multi-agent consensus on targets in a more harsh intermittent communication environment. Sex stalking. By setting a fixed round-up formation configuration, the consensus algorithm can realize multi-agents rounding up target agent formations in an intermittent communication environment, and the invention belongs to the technical field of cooperative control. Background technique: [0002] With the popularity of intelligent equipment such as robots and unmanned aerial vehicles in the military and civilian fields, research on the collaborative control of multi-robots and multi-aerocraft continues. An important research direction in the field of multi-agent cooperative control is to realize multi-agent consistent behavior throu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 温广辉胡一帆吕跃祖付俊杰周佳玲
Owner SOUTHEAST UNIV
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