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Multi-agent consistency method based on distributed adaptive event triggering

A multi-agent, event-triggered technology, applied in adaptive control, instrumentation, control/regulation systems, etc., can solve problems such as complex control algorithms and unfriendly algorithms, so as to improve control efficiency, simplify update steps, and reduce update The effect of frequency

Active Publication Date: 2021-01-05
HANGZHOU DIANZI UNIV
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AI Technical Summary

Problems solved by technology

All in all, the implementation of the control algorithm requires complex and obscure steps, which is not very friendly to the user of the algorithm

Method used

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  • Multi-agent consistency method based on distributed adaptive event triggering
  • Multi-agent consistency method based on distributed adaptive event triggering
  • Multi-agent consistency method based on distributed adaptive event triggering

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Embodiment Construction

[0018] The implementation of the existing distributed event-triggered consensus algorithm: each agent needs to integrate the received communication information (i.e., the state of the neighbors) and the exponential calculation involving the matrix, as well as steps such as data fusion to access and calculate its neighboring agents Status information sent. Furthermore, all agents need to access some global information, i.e. traverse the entire communication topology graph.

[0019] For the problems referred to above, the present invention provides the following ideas:

[0020] 1) On the basis of maintaining the consistency and stability of the multi-agent control system, a simplified controller protocol and event trigger mechanism are given to improve control efficiency.

[0021] 2) Decoupling the triggering strategy of the multi-agent control system, so that each agent only updates at its own triggering time, which effectively reduces the update frequency of event-triggered c...

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Abstract

The invention discloses a multi-agent consistency method based on distributed adaptive event triggering. The method provided by the invention is an improved method of an existing method, and the method comprises the steps: 1) simplifying an updating step of a multi-agent control system controller protocol; 2) only updating each intelligent agent at the triggering moment of the intelligent agent, so the updating frequency of event triggering control is effectively reduced; 3) considering the influence of uncertain factors in the multi-agent control system, and proposing an event trigger-based adaptive control strategy to overcome. According to the method, complex exponential operation, acquisition of global coordinate information and complex data fusion operation are not needed, and the triggering of the event is relatively independent and only depends on the triggering moment of the event and the relative state of the neighbor node. Meanwhile, the introduction of the adaptive parameterestimation method realizes the self-estimation and self-optimization of the parameters of the multi-agent control system, and overcomes the defect that the parameter estimation depends on the uncertainty of global information during the design of the multi-agent control system.

Description

technical field [0001] The invention belongs to the field of computer science and control, and relates to a multi-agent consistency method based on distributed adaptive event triggering. Background technique [0002] Multi-agent systems have broad application prospects, and their related research results have been widely used in robot formation, vehicle traffic management, unmanned aerial vehicles and underwater vehicles. The early multi-agent event-triggered control is mostly a distributed event-triggered consensus algorithm; for a linear multi-agent system with / without input delay, the implementation of the controller protocol in the algorithm needs to interpret the communication information received from other agents ( i.e. the states of neighbors) and exponential computations involving matrices, and require complex data fusion steps to access and compute the state information sent by its neighboring agents. Furthermore, all agents need access to some global information ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 刘丹复黄娜张健郑小青张尧陈张平赵晓东孔亚广张帆
Owner HANGZHOU DIANZI UNIV
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