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Uncertain multi-agent system consistency control method based on non-uniform quantification

A multi-agent system and control method technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as difficult to implement accurately, less satisfactory information exchange, avoid bandwidth constraints, The effect of reducing the communication burden and improving the robust control effect

Inactive Publication Date: 2020-05-12
浙江机电职业技术学院
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Problems solved by technology

Constrained by the communication bandwidth, the actual information exchange is often not so satisfactory, which will make it difficult to accurately implement the multi-agent consensus control that relies on real-time continuous information exchange under actual network regulation

Method used

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  • Uncertain multi-agent system consistency control method based on non-uniform quantification
  • Uncertain multi-agent system consistency control method based on non-uniform quantification
  • Uncertain multi-agent system consistency control method based on non-uniform quantification

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Embodiment Construction

[0047] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0048] refer to Figure 1 to Figure 7 , a consensus control method for uncertain multi-agent systems with non-uniform quantization, comprising the following steps:

[0049] Step 1: In this embodiment, consider a multi-agent system composed of four nodes, the communication topology diagram is as follows figure 2 shown. Among them, node L is the leader, node F 1 , F 2 , F 3 for followers.

[0050] Establish a nonlinear high-order multi-agent system dynamic model with unmodeled dynamics, dynamic perturbations, and quantized inputs. The dynamic equation of the jth agent node is described as:

[0051]

[0052] where j=1,2,3, i=1,2; y j ∈R denotes the system output; q( ) and f j,i (·):R i →R is an unknown smooth function; g j,i (·)≠0 means that the unknown control gain is a nonlinear smooth function; Indicates the unmodeled dynamics; Δ j,i ( ) mean...

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Abstract

The invention discloses a non-uniform quantization-based uncertain multi-agent system consistency control method. The method comprises the following steps: establishing a non-linear kinetic model with quantization input, unmodeled dynamics and dynamic disturbance for each agent in a multi-agent system; decoupling a coupling relationship between unmodeled items and state items in unmodeled dynamicand dynamic disturbance items by utilizing an input-state index stability principle to separate independent unmodeled dynamic items and state items; decomposing a quantized input item into an algebraic expression of the input item with a weight coefficient; performing controller design on a simplified intelligent agent model by combining an adaptive neural network method and a backstepping technology; providing consistency convergence and stability conditions by using a Lyapunov stability theory; and giving a control parameter selection rule according to convergence and stability conditions so as to achieve a consistency quantitative control effect. According to the method, the communication burden of a networked control system is reduced, and a good robustness control effect is achieved.

Description

technical field [0001] The invention relates to a high-order uncertain multi-agent system consistency control technology, in particular to a strict feedback multi-agent input quantitative consistency control method with unmodeled dynamic and dynamic uncertain disturbance characteristics. Background technique [0002] With the continuous development of control technology, communication technology, computer network technology, biological science technology and artificial intelligence technology, the research on the control of multi-agent systems, an interdisciplinary subject, has attracted widespread attention from scholars. The agents cooperate with each other to complete a complex group task that a single individual cannot complete alone. Therefore, the research on the cooperative control of multi-agents has always been the focus of the field of multi-agents research. Consensus control is the key and foundation of collaborative control research. Consistency control research...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/027G05B13/042
Inventor 秦贞华何熊熊李刚伍益明
Owner 浙江机电职业技术学院
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