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Multi-agent grouping consistency control method with unknown model

A multi-agent and control method technology, applied in the direction of adaptive control, comprehensive factory control, general control system, etc., can solve the problems of waste of resources, large energy consumption, etc., to meet real-time performance, improve running time, and achieve group consistency sexual effect

Active Publication Date: 2021-02-12
XIANGTAN UNIV
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  • Claims
  • Application Information

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Problems solved by technology

[0006] At the same time, since the multi-agent system usually contains dozens or hundreds of agents, the continuous communication method consumes a lot of energy and causes a waste of resources.

Method used

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  • Multi-agent grouping consistency control method with unknown model
  • Multi-agent grouping consistency control method with unknown model
  • Multi-agent grouping consistency control method with unknown model

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Embodiment Construction

[0019] In order to make the purpose, technical solutions and advantages of the present invention clearer and easier to understand, the present invention will be further described in detail below in conjunction with the accompanying drawings and examples of implementation.

[0020] A class of model-unknown multi-agent group consensus control methods, including:

[0021] S1. Clarify the dynamic model of the research problem;

[0022] This type of model-unknown multi-agent dynamics model contains N agents, and the i-th agent dynamics model is:

[0023]

[0024] where x i (t)∈R n ,u i (t)∈R n , f i (x i (t))∈R n represent the state of the agent, the control input and the unknown nonlinear function, respectively.

[0025] And define the reference model here: where N i Represents the set of neighbors of agent i.

[0026] Further define the tracking error:

[0027] e i (t)=x i (t)-z i (t),i=1,...,N (2)

[0028] In S1, the communication network of the agent is as a...

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Abstract

The invention discloses a multi-agent grouping consistency control method with an unknown model, and the method comprises the following steps: employing an adaptive algorithm based on a radial basis function neural network to carry out online recognition of an unknown item, and introducing an event-triggered communication strategy on the basis of the identification; and designing a distributed controller according to information of agent nodes, reference model information and information of neighbor agent nodes of the agent nodes, so that grouping consistency of multiple agents is achieved. According to the invention, online identification, a distributed event trigger communication strategy and grouping consistency control of a multi-agent system with an unknown type of model are realized,so that the problems of unknown multi-agent model, high continuous communication energy consumption and short running time are solved.

Description

technical field [0001] The invention relates to the technical field of multi-agent control, in particular to a grouping consistency control method of multi-agent groups unknown to a class of models. Background technique [0002] Coordinated control of multi-agent systems has attracted extensive research in recent years due to their widespread applications in unmanned aerial vehicles, smart grids, and intelligent traffic control systems. In the cooperative control problem of multi-agent systems, reaching the predetermined consistency is the prerequisite for the coordination and cooperation of agents, so the consistency problem is an important basis for the research of coordinated control. The consensus control of multi-agents has a wide range of applications in the fields of formation control, swarm control, swarming and other control fields. [0003] First, the definition of an agent is given. An agent is a device or machine with limited sensing, communication, computing, a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042Y02P90/02
Inventor 唐文妍莫海红吴佳李坤郭宇豪孟江南
Owner XIANGTAN UNIV
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