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Distributed output feedback asymptotic consistency control method for multi-agent hysteresis system

A multi-agent system, output feedback technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the dynamic surface asymptotic consistency control problem that cannot be solved in high-order nonlinear multi-agent systems and other problems to achieve the effect of achieving asymptotic convergence, ensuring stability, and eliminating the impact of system tracking performance

Active Publication Date: 2021-09-07
SHANGHAI UNIV OF ENG SCI
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Problems solved by technology

[0006] The purpose of the present invention is to overcome the defect that the prior art cannot solve the dynamic surface asymptotic consistency control problem of the high-order nonlinear multi-agent system with hysteresis input, and provide a method for nonlinear multi-agent system with hysteresis input and unknown state. Distributed adaptive output feedback leader-follower asymptotically consistent control method for multi-agent systems

Method used

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  • Distributed output feedback asymptotic consistency control method for multi-agent hysteresis system
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  • Distributed output feedback asymptotic consistency control method for multi-agent hysteresis system

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Embodiment 1

[0167] A distributed output feedback asymptotically consistent control method for a multi-agent hysteresis system, applied to electronic equipment, the steps are as follows (the flow chart is as follows figure 2 shown):

[0168] (1) Obtain the reference signal trajectory and the actual response trajectory of each follower subsystem in the multi-agent system in real time, and track the consistency error between the reference signal trajectory and the actual trajectory in real time;

[0169] (2) Input the consistency error between the reference signal trajectory and the actual trajectory into the dynamic surface controller to process the derivative of the virtual control rate. The dynamic surface controller contains a nonlinear filter, and the mathematical model of the nonlinear filter is as follows:

[0170]

[0171]

[0172]

[0173]

[0174] Where: 1≤i≤N, 1≤j≤ρ i , α i,j and are the virtual control rates of the i-th follower subsystem before and after step j ...

Embodiment 2

[0213] An electronic device, including one or more processors, one or more memories, one or more programs, and an information acquisition device for acquiring reference signal trajectories and actual trajectories of a multi-agent system;

[0214] One or more programs are stored in the memory, and when the one or more programs are executed by the processor, the electronic device executes a kind of multi-agent hysteresis system distributed output feedback asymptotically consistent control as described in Embodiment 1 method.

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Abstract

The invention discloses a distributed output feedback asymptotic consistency control method for a multi-agent hysteresis system. The method comprises the following steps: tracking a consistency error of a reference signal track and an actual track in real time; inputting the consistency error of the reference signal track and the actual track into a dynamic surface controller containing a nonlinear filter; using the actual control signal output by the dynamic surface controller as the input of the hysteresis model, and controlling the multi-agent system according to the output of the hysteresis model; performing online real-time estimation on an unknown state of the multi-agent system by using a state observer with dynamic high gain; and inputting the state estimation value of the multi-agent system into the dynamic surface controller, and updating the parameter estimation value on line by combining the adaptive rate estimated by the internal parameters of the controller, thereby realizing distributed output feedback asymptotically consistent control of the multi-agent system. The method of the invention can effectively eliminate the hysteresis effect of the execution mechanism and realize good tracking control performance, and has great application prospects.

Description

technical field [0001] The invention belongs to the technical field of multi-agent control, and relates to a distributed output feedback asymptotically consistent control method of a multi-agent hysteresis system. Background technique [0002] In recent decades, due to the successful application of multi-agent coordinated control technology in swarm control, such as unmanned aerial vehicle swarm control, underwater collaborative operation, robot swarm formation and satellite cluster control, etc., the problem of multi-agent coordinated control has gradually become the focus of extensive attention of scholars. Multi-agent coordinated control problems mainly include consistency, aggregation, swarming, swarming, etc. Among them, the consistency problem shows great potential in engineering application in the field of cooperative control, and is the key to the study of multi-agent coordinated control problems. Moreover, in multi-agent coordinated control systems, the designed co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042Y02P90/02
Inventor 刘烨杨朋举张娅倩郑贤王清华陈剑雪吴健珍
Owner SHANGHAI UNIV OF ENG SCI
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