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Design method of distributed pre-posed time state observer

A state observer, lead time technology, applied in the direction of instruments, adaptive control, control/regulation systems, etc., can solve the problem of not being able to complete the task requirements well, and achieve the effect of ensuring accuracy

Active Publication Date: 2021-01-08
NANJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] The limited capabilities of a single system in terms of information acquisition, processing, and autonomous control and planning make it unable to fulfill mission requirements well in some large and complex mission environments and spaces

Method used

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  • Design method of distributed pre-posed time state observer
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  • Design method of distributed pre-posed time state observer

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Experimental program
Comparison scheme
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specific Embodiment

[0090] Specific embodiments: the proof process of the convergence of the lead time distributed state observer designed by the present invention is as follows:

[0091]Choose the Lyapunov function as in right first Derived to get:

[0092]

[0093] right Derivation can be obtained:

[0094]

[0095] Since step (1.5) has γ≥d 1 ,available:

[0096]

[0097] Among them, m=(2λ 1 (L)) (α+1) / 2 a,n=(2λ 1 (L)) (α+1) / 2 , Rearranging formula (12), we can get:

[0098]

[0099] Integrating formula (13) can get:

[0100]

[0101]

[0102] Since V(t)≥0, Therefore, V(t) is monotonously decreasing; when t∈[0,T), T0 , there exists a time t=t 0 , t 0 The following conditions:

[0103]

[0104] such that V(t 0 )=0; according to the Lyapunov stability theory, the premise of system stability is that V(t)≥0, Therefore when t∈[t 0 ,T), it can be deduced that 0≤V(t)≤V(t 0 )=0, that is, V(t)≡0 at this stage.

[0105] When t∈[T,+∞), according to the ti...

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Abstract

The invention discloses a design method of a distributed pre-posed time state observer, and belongs to the technical field of multi-agent cooperative control. The method comprises the specific steps of dynamic modeling, communication topology, construction of a pre-time-varying function, construction of a multiple-leader convex hull, and design of a pre-time distributed state observer. According to the distributed pre-posed time observer provided by the invention, the positions and speeds of leaders and the state errors of a plurality of followers can be directly observed; and the convergencetime of an observer is preset, so that the accuracy, flexibility and safety of an observation effect are ensured. The distributed pre-time observer is characterized in that: a multi-leader and multi-follower state model is built; the convex hull is constructed according to the weights between the leaders; and a specific piecewise time-varying function is designed, and the distributed pre-time observer is designed by utilizing the function. The distributed pre-posed time observer can observe convex hull information formed by a plurality of leader within any set time.

Description

technical field [0001] The invention relates to the technical field of multi-agent cooperative control, in particular to a design method of a distributed lead time state observer. Background technique [0002] The limited capabilities of a single system in terms of information acquisition, processing, and autonomous control and planning make it unable to fulfill mission requirements well in some large and complex mission environments and spaces. A multi-agent system is a collection of multiple single systems with independent and autonomous capabilities. They form a whole, coordinate with each other and avoid conflicts. [0003] The multi-agent system has the characteristics of distribution in space, time, information, resources and functions. In addition to the time and space, it also has the characteristics of complementarity and redundancy, which shows the obvious advantages of the multi-agent system. Advantages: The multi-agent system can greatly enhance the working abil...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 林琼蒋国平周映江
Owner NANJING UNIV OF POSTS & TELECOMM