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A Fixed Time Dynamic Area Tracking Control Method Based on Time Base Generator

A fixed time, dynamic region technology, applied in adaptive control, comprehensive factory control, general control systems, etc., can solve the problems of tracking dynamic region, inability to accurately estimate the upper bound of the system stability time, etc., to achieve small initial control input, Simple application of system instability, the effect of improving the scope of application

Active Publication Date: 2022-07-05
NORTHWESTERN POLYTECHNICAL UNIV
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the existing dynamic region tracking control methods are asymptotically stable or finite-time stable, so the upper bound of the system stability time cannot be accurately estimated, that is, the multi-agent system cannot track the upper dynamic region within any given time.

Method used

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  • A Fixed Time Dynamic Area Tracking Control Method Based on Time Base Generator
  • A Fixed Time Dynamic Area Tracking Control Method Based on Time Base Generator
  • A Fixed Time Dynamic Area Tracking Control Method Based on Time Base Generator

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Embodiment 1

[0077] Assume a first-order integrator type 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 like figure 2 shown, the upper bound of the settling time is set to t s =4s, the remaining parameters θ=2, κ=2, δ=0.01, a=0.8, the initial state of the system is set to (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 dynamic curve of the simulation results is as follows image 3 shown; the states of the multi-agent system at 0s, 4s, and 30s are respectively as follows Figure 4 , Figure 5 , Image 6 shown. It can be seen from the simulat...

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Abstract

The invention provides a fixed-time dynamic area tracking control method based on Time Base Generator, which includes the following steps: establishing a fixed-time distributed state observer to estimate the center position of the tracked area, then setting a reference point according to the center position, and finally designing a fixed time The time controller enables the multi-agent to track the upper reference point at any given time and keep it all the time, thus realizing fixed-time dynamic region tracking. The stability time of this method is not affected by the initial state of the system, which enables the multi-agent system to track the specified area at any given time, and the fixed time method based on the Time-Base Generator has a smaller energy input and a more concise system. parameters to improve the applicable scope of the system.

Description

technical field [0001] The invention belongs to the field of cooperative control of multi-agent systems, and relates to a fixed-time dynamic region tracking control method of a first-order integrator type multi-agent system based on a Time Base Generator. Background technique [0002] In nature, ant colonies, birds, and fish often cooperate to complete the task of foraging or defending against natural enemies. In this kind of collective cooperation task, each individual can only obtain local information around itself, 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 flocks 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 developed tremendously, and the research directions are also divers...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042Y02P90/02
Inventor 吴勇陈强张建东史国庆杨啟明张耀中朱岩莫文莉梁源博
Owner NORTHWESTERN POLYTECHNICAL UNIV
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