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Leader following consistency method of multi-agent system under switching topology

A multi-agent system and consistent technology, applied in general control systems, control/regulation systems, instruments, etc.

Pending Publication Date: 2021-08-24
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Network predictive control protocols can solve communication constraints such as communication delay and packet loss

Method used

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  • Leader following consistency method of multi-agent system under switching topology
  • Leader following consistency method of multi-agent system under switching topology
  • Leader following consistency method of multi-agent system under switching topology

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0067] Consider a networked multi-agent system consisting of four agents; where the leader has index 0 and the follower agents have indices 1, 2, and 3.

[0068] Assuming the dynamic model of the system is described by (1) and (2), here:

[0069]

[0070] Matrix L 0 , L 1 , L 2 and L 3 Obtained from the Riccati equation satisfying the theorem, as follows:

[0071]

[0072] Matrix K 0 、K i1 and K i2 Obtained by satisfying cone complement linearization, as follows:

[0073]

[0074] The closed-loop system Ω can be obtained by calculation σ(t) The characteristic value of

[0075]

[0076] It can be seen that all the eigenvalues ​​are within the unit circle, therefore, the leader-following consistency problem can be solved.

[0077] Depend on image 3 , Figure 4 and Figure 5 It can be concluded that the leader and followers in the system can track the upper reference input value.

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Abstract

The invention provides a leader following consistency method of a multi-agent system under switching topology. Two network protocols are provided, wherein the consistency of the state of a leader is achieved by exporting the state of a follower under the exchange topology, and meanwhile the asymptotic stability of all agents is guaranteed. Network predictive control methods are used to actively compensate for network delays and packet loss since the status and communication constrain of the intelligent body are unavailable. When at least one follower is connected to the leader through the directed edge, a sufficient criterion of leader following consistency and automatic stability is obtained. Simulation examples show that under the proposed theoretical result, the state of the follower can track the state of the leader, and the states of all agents are gradually converged to be consistent.

Description

technical field [0001] The invention relates to a leader-following consistency method of a multi-agent system under switching topology. Background technique [0002] The consensus problem of multi-agent systems has always been a hot topic, which focuses on the problem that a group of agents reach consensus through negotiation with their neighbors; some beneficial results of the consensus problem of multi-agent systems have been widely used in the field of control engineering, Such as clustering, aggregation, formation control, synchronization, etc. [0003] In many practical applications, a certain number of all agents need to converge to a given goal, which is usually called a leader, and this type of problem is called the leader-follower consensus problem, which greatly expands the multi-intelligence The engineering application of the body system; for example, during the formation flight of UAVs, a leading UAV needs to lead the corresponding actions, so that other followi...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 谭冲孙浩楠
Owner HARBIN UNIV OF SCI & TECH