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Distributed non-smooth saturation consistency control method of discontinuous multi-agent system

A technology of a multi-agent system and a control method, applied in the information field, can solve the problems of communication bandwidth and transmission congestion, discontinuous dynamic behavior of multi-agent system and time-varying time delay, etc., to achieve the effect of reducing control costs

Active Publication Date: 2021-07-13
JIANGNAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to limited communication bandwidth and transmission congestion, multi-agent systems have discontinuous dynamic behavior and time-varying time delay, so traditional methods for dealing with nonlinear functions, such as Lipschitz conditions (Lipschitz continuous conditions), sector conditions, QUAD conditions etc. no longer apply

Method used

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  • Distributed non-smooth saturation consistency control method of discontinuous multi-agent system
  • Distributed non-smooth saturation consistency control method of discontinuous multi-agent system
  • Distributed non-smooth saturation consistency control method of discontinuous multi-agent system

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Embodiment 1

[0071] The finite-time global consistency and distributed non-smooth saturation control method of the discontinuous multi-agent system of the present invention, the steps are as follows:

[0072] Step 1: Establish a multi-agent system with discontinuous dynamics and time-varying time-delay and determine its consistency goal.

[0073]

[0074] in Represents the state variable of the i-th agent. The inline matrices D and B are positive definite and negative definite respectively, f(·):R n →R n is a nonlinear discontinuous vector-valued function. The time-varying delay τ(t) is a bounded positive function, 0≤τ(t)≤τ,

[0075] Due to limited communication bandwidth and transmission congestion, the multi-agent system considered in the present invention has discontinuous dynamic behavior and time-varying time delay, so traditional methods for dealing with nonlinear functions, such as Lipschitz conditions (Lipschitz continuous conditions) , sector conditions, QUAD conditions...

Embodiment 2

[0154] This embodiment describes the specific implementation methods of the above two types of controllers in conjunction with a specific multi-agent system, including the following steps:

[0155] Step 1: Select system parameters. In order to be close to the actual working conditions, 4 agents are selected to form a multi-agent system, and each agent has 3 state components, ie N=4, n=3. According to the dynamic function f(·)∈B 2 , without loss of generality, choose f(z)=0.3z+2sign(z), thus q=0.3, w=4; make B=diag[-1,-1.2,-1.4], D=[ 0.1,0.2,0.3], time-varying delay τ(t)=0.03+sin 0.2t. The state evolution graph of an uncontrolled discontinuous multi-agent system is shown in Figure 3(a)-Figure 3(c) shown.

[0156] Step 2: Select Control Configuration Matrix Parameters. To implement distributed control, the following control coupling matrix is ​​chosen:

[0157]

[0158] This means that the communication strength between each agent is different, divided into four levels...

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Abstract

The invention relates to a distributed non-smooth saturation consistency control method of a discontinuous multi-agent system. According to the method, a multi-agent system model with discontinuous dynamic properties and time-varying and time-lag is established, and a generalized Lipschitz condition is introduced to linearize a discontinuous nonlinear function; a Filippov differential inclusion and measure selection theorem are utilized to obtain a solution of a discontinuous differential equation in the Filippov meaning; through the finite time stability theorem, the upper bound of time for the controlled error system to reach stability is estimated, and the control cost is reduced; in combination with a Gaussian error function and a differential median theorem, a saturation effect is approximately simulated so as to reduce the unsmoothness of a control signal and simplify the subsequent design of a controller.

Description

technical field [0001] The invention relates to the technical field of information technology, in particular to a distributed non-smooth saturation consistency control method for a discontinuous multi-agent system. Background technique [0002] Distributed artificial intelligence is an important research direction in the field of artificial intelligence, and multi-agent system (MAS) is one of its main branches. With the rapid development of computer technology and network communication technology, the related research corresponding to MAS has become a new research direction in the field of information science. Due to the strong autonomy and adaptability of the agent, more and more scholars have begun to pay attention to the research on its theory and application. The relevant theories of MAS have been widely used in many fields such as e-commerce, intelligent transportation, and multi-robot systems. [0003] In recent years, the analysis and research of MAS from the perspe...

Claims

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Application Information

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IPC IPC(8): G05B19/418
CPCG05B19/41845G05B2219/33273Y02P90/02
Inventor 汤泽王佳枫王艳纪志成
Owner JIANGNAN UNIV
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