Multi-agent cluster grouping time-varying formation tracking control method and system

A multi-agent, tracking control technology, applied in control/regulation systems, non-electric variable control, two-dimensional position/channel control, etc., can solve problems such as lack of functional design in grouping

Active Publication Date: 2020-11-27
BEIHANG UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

Cluster systems are always studied as a whole, but grouping is the lack of functional design when it handles multitasking

Method used

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  • Multi-agent cluster grouping time-varying formation tracking control method and system
  • Multi-agent cluster grouping time-varying formation tracking control method and system
  • Multi-agent cluster grouping time-varying formation tracking control method and system

Examples

Experimental program
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Effect test

Embodiment

[0147] The effectiveness of the method proposed by the present invention is verified below through a specific example of grouping time-varying formation encirclement tracking control of a multi-agent swarm system. The specific implementation steps of this example are as follows:

[0148] (1) Multi-agent cluster system setup

[0149] Consider a third-order multi-agent system divided into 3 subgroups with a total of 13 agents. The topology of its switching is as follows figure 2 shown. The follower's node set is partitioned into V 1 ={1,2,3},V 2 = {4,5,6} and V 3 ={7,8,9,10}. The model parameters are set to:

[0150]

[0151] (2) Expected time-varying formation design

[0152] To describe the desired rotating circular formation configuration, the design formation reference vector is as follows

[0153]

[0154]

[0155] It can be verified that the time-varying formation feasibility condition is satisfied.

[0156] (3) Parameter design of formation tracking co...

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Abstract

The invention relates to a multi-agent cluster grouping time-varying formation tracking control method and system. The multi-agent cluster grouping time-varying formation tracking control method comprises the steps of: acquiring an individual mathematic model in a state space form for describing motion characteristics and a directed topological graph for describing a communication relation according to the individual dynamic characteristics and the communication relation of a multi-agent cluster system, wherein the multi-agent cluster system comprises a leader and followers; determining a vector of expected time-varying formation based on the individual mathematical model and the communication relation to obtain a time-varying formation tracking error; converting the time-varying formationtracking error; determining a grouped time-varying formation tracking controller with topology switching based on the converted time-varying formation tracking error; and realizing grouping formationtracking control on the system based on the grouped time-varying formation tracking controller with topology switching. The multi-agent cluster grouping time-varying formation tracking control methodand the system provided by the invention have better self-organization and fault tolerance, and can face challenge application situations of communication faults and insufficient communication capability.

Description

technical field [0001] The invention relates to the field of multi-agent formation control, in particular to a multi-agent cluster grouping time-varying formation tracking control method and system. Background technique [0002] Multi-agent systems have always been an important research content, rooted in many practical engineering applications, such as completing cooperative tasks, synchronous adjustment of satellite attitude, and spectrum detection. Consistency control is widely studied as one of the key technologies. [0003] As an extension of the consensus protocol, the problem of formation control for the first and second orders is solved. However, formation movement that needs to be predicted cannot meet the needs of complex combat environments. Group formation control As a method to deal with multiple escaping targets, some researchers proposed a group time-varying formation for the fixed topology of the second-order system. However, in actual situations, there ar...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0295
Inventor 董希旺卢怡舟任章于江龙李清东韩亮吕金虎
Owner BEIHANG UNIV
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