A multi-agent distributed model predictive control method and system

A model predictive control and multi-agent system technology, applied in the field of multi-agent systems, can solve problems such as high requirements for communication topology and complex stability assurance methods, to ensure iteration feasibility, simplify implementation and parameter adjustment Effect

Active Publication Date: 2022-02-15
HUNAN UNIV
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Problems solved by technology

[0004] There are still many deficiencies in the existing distributed model predictive control methods for multi-agent systems, especially the high requirements for the communication topology, and the stability guarantee method is relatively complicated

Method used

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  • A multi-agent distributed model predictive control method and system
  • A multi-agent distributed model predictive control method and system
  • A multi-agent distributed model predictive control method and system

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Embodiment Construction

[0057] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0058] like figure 1 As shown, the multi-agent distributed model predictive control method provided by the embodiment of the present invention includes:

[0059] Step 1, describe the dynamic equation of the agent in the multi-agent system (as shown in formula (1)), record the set containing all control inputs as the control input set Record all other agent sets that can be received by agent i as the neighbor set Record all other agent sets that can receive the broadcast information of agent i as the neighbor set Record the set of broadcast information representing whether the agent i can receive the pilot agent as the traction set Define the pull-in neighbor set as And the communication topology in the multi-agent system is a double-front vehicle-following type;

[0060] x i (t+1)=Ax i (t)+Bu i (t) (1)

[0061] In the formula:

[0062] ...

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Abstract

The invention discloses a multi-agent distributed model predictive control method and system. The method includes: step 1, describing the dynamic equation of the agent and defining parameters; step 2, the agent broadcasting its future to the outgoing neighbor centralized agent N p The assumed state trajectory of the +1 step and the assumed state trajectory broadcast by the agent in the neighbor set; step 3, solve the future N p step-optimal control input sequence and future N p +1 step optimal state sequence; step 4, the agent uses the first element of the optimal control input sequence for the current time t, the second to Nth elements of the optimal control input sequence p ‑1 element as the hypothetical input trajectory at time t+1 and the 2nd to Nth of the optimal state sequence p Each element is used as the hypothetical state trajectory at time t+1; in step 5, the terminal input will be added, and step 2 to step 5 will be repeated by single-step recursion. The invention can ensure the iterative feasibility, is suitable for a wide range of communication topology types, and simplifies the realization and parameter adjustment in practical application.

Description

technical field [0001] The invention relates to the technical field of multi-agent systems, in particular to a multi-agent distributed model predictive control method and system. Background technique [0002] A multi-agent system is a system composed of multiple agents interacting in an environment. In recent decades, with the popularization of mobile communication and computing technology, the distributed cooperative control technology of multi-agent systems has emerged and has been widely used in many fields. For example, multi-agent distributed model predictive control is used in the collaborative operation of multiple autonomous underwater robots and the collaborative driving of multiple intelligent networked vehicles, which can significantly improve the efficiency and reliability of multi-vehicle operations and runtime. [0003] Because the actual system has the characteristics of complex model, large scale, many variables and many constraints, traditional control meth...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/00
Inventor 边有钢谭艳谢国涛王晓伟秦洪懋秦晓辉徐彪秦兆博胡满江丁荣军
Owner HUNAN UNIV
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