Fixed time dynamic region tracking control method based on Time Base Generator

A technology with fixed time and dynamic area, applied in the direction of adaptive control, comprehensive factory control, general control system, etc., can solve the problems of tracking the dynamic area, unable to accurately estimate the upper bound of the system stability time, etc., to achieve small initial control input, Easy to apply system instability, not easy to system input saturation effect

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A technology with fixed time and dynamic area, applied in the direction of adaptive control, comprehensive factory control, general control system, etc., can solve the problems of tracking the dynamic area, unable to accurately estimate the upper bound of the system stability time, etc., to achieve small initial control input, Easy to apply system instability, not easy to system input saturation effect

CN113093554AActive Publication Date: 2021-07-09NORTHWESTERN POLYTECHNICAL UNIV

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[0077] Suppose a first-order integrator multi-agent system with 6 agents, the system model is shown in formula (2), the observer and controller are shown in formula (5) and formula (7) respectively, the system network communication topology such as figure 2 As shown, the upper bound of the settling time is set to t s =4s, other parameters θ=2, κ=2, δ=0.01, a=0.8, the initial state of the system is set as (x 1 ,y 1 )=(-20,-17), (x 2 ,y 2 )=(-25,-15), (x 3 ,y 3 )=(-18,-15), (x 4 ,y 4 )=(-18,-17), (x 5 ,y 5 )=(-20,-15), (x 6 ,y 6 )=(-18,-20); the reference signal is (r 1x ,r 1y )=(0.5t,t), (r 2x ,r 2y )=(0.5t,t+5), (r 3x ,r 3y )=(0.5t+5,t+10), (r 4x ,r 4y )=(t+10,t+10), (r 5x ,r 5y )=(t+10,t+5), (r 6x ,r 6y )=(t+5,t), the simulation result dynamic curve is as follows image 3 Shown; 0s time, 4s time, 30s time multi-agent system status respectively as follows Figure 4 , Figure 5 , Image 6 shown. It can be seen from the simulation that the multi-ag...

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Abstract

The invention provides a fixed time dynamic region tracking control method based on Time Base Generator, which comprises the following steps of: establishing a fixed time distributed state observer to estimate the central position of a tracked area, and then setting a reference point according to the central position, and finally, designing a fixed time controller to enable the multiple agents to track the reference point within any given time and keep the reference point all the time, so that fixed time dynamic region tracking is realized. According to the method, the stable time is not affected by the initial state of the system, the multi-agent system can track the designated area within any given time, the fixed time method based on Time-Base Generator has smaller energy input and more concise system parameters, and the applicable range of the system is widened.

Description

technical field [0001] The invention belongs to the field of collaborative control of multi-agent systems, and relates to a first-order integrator type multi-agent system fixed-time dynamic area tracking control method based on Time Base Generator. Background technique [0002] In nature, ant colonies, birds, and fish groups often cooperate to complete the task of foraging or defending against natural enemies. In this kind of collective collaborative task, each individual can only obtain local information around him, but the whole group can accurately cooperate to complete tasks that cannot be completed by a single individual. Inspired by this phenomenon, scientists use mathematical modeling to simulate the behavior of birds and fish to achieve swarm control, which is the existing multi-agent cooperative control technology. In the past two decades, the field of multi-agent cooperative control has undergone tremendous development, and the research directions are also diverse...

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Application Information

Patent Timeline

09 Jul 2021

Publication

CN113093554A

IPC: G05B13/04

CPC: G05B13/042; Y02P90/02

Inventors: 吴勇; 陈强