Point-to-point tracking control method for multi-agent trajectory updating iterative learning

An iterative learning, multi-agent technology, applied in the field of control, can solve problems such as point-to-point tracking control

Active Publication Date: 2020-09-29
JIANGNAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide an iterative learning method based on target trajectory update to solve the point-to-point tracking control problem of heterogeneous multi-agent systems

Method used

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  • Point-to-point tracking control method for multi-agent trajectory updating iterative learning
  • Point-to-point tracking control method for multi-agent trajectory updating iterative learning
  • Point-to-point tracking control method for multi-agent trajectory updating iterative learning

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Embodiment

[0142] Consider a discrete heterogeneous multi-agent system composed of six different follower agents and a leader agent. The communication topology of the system is as follows: figure 1 As shown in , the number 0 represents the leader agent, and the numbers 1-6 represent the follower agent.

[0143] The dynamic model of the follower agent is as follows:

[0144]

[0145]

[0146]

[0147]

[0148] The system simulation time is t∈[0,2], and the sampling time is 0.1s. Select 5 points among them as the expected position points for tracking control research, the point to be tracked T={20,60,100,140,180}, and the expected output is y d (T)={5,3,-3,-5,1.5}.

[0149] place the desired position point y d (T)={5,3,-3,-5,1.5} is regarded as generated by the virtual leader numbered 0, and the above 6 agents are regarded as followers, only part of the followers are intelligent Physical ability directly obtains leader information. by communication topology figure 1 It ca...

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Abstract

The invention discloses a point-to-point tracking control method for multi-agent trajectory updating iterative learning, and belongs to the technical field of control. The method comprises the steps of firstly, constructing a mathematical model of a heterogeneous discrete multi-agent system, regarding an expected position point as generated by a virtual leader, and determining a spanning tree structure taking the leader as a root node according to a communication topological structure of the multi-agent system; secondly, designing a target trajectory updating method according to the expected point, and converging a new target trajectory to system output by updating the target trajectory; and finally, designing a P-type iterative learning method based on target trajectory updating for the follower agent, thereby realizing complete tracking of the expected point by the multi-agent system. By means of the method, the point-to-point tracking control problem of the heterogeneous multi-agentsystem is solved, the speed of outputting and tracking the new target trajectory by the system is higher than the speed of tracking the fixed target trajectory, and thus the agent can complete tracking of the expected point.

Description

technical field [0001] The invention relates to an iterative learning method based on target trajectory update to solve the point-to-point tracking control problem of a heterogeneous multi-agent system, and belongs to the field of control technology. Background technique [0002] In recent decades, with the continuous development of artificial intelligence and industrial technology, many large-scale and complex control systems have emerged, and multiple subsystems must communicate with each other and cooperate to complete macro tasks. Coordination and cooperation between agents will greatly improve the intelligence of individual behavior, and better accomplish many tasks that cannot be done by a single individual. Today, multi-agent coordinated control technology has been widely used in sensor networks, robots, traffic signal control and other fields. In actual industrial production, many controlled systems perform repetitive motion tasks in limited intervals, such as servo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0295G05B13/04G05B13/0265G05B2219/33051G05B2219/39219G05B2219/42342
Inventor 刘成林罗玉娟
Owner JIANGNAN UNIV
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