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Anti-interference self-adaptive fuzzy sliding mode cooperative control method based on multiple agents

An adaptive fuzzy, multi-agent technology, which is applied in the direction of motor speed or torque control, control system, control generator, etc., can solve problems such as mutual interference between agents and control accuracy errors of multiple agents, and achieve The effect of solving the problem of parameter uncertainty, reducing the influence and simplifying the structure

Active Publication Date: 2021-10-01
JIANGNAN UNIV
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Problems solved by technology

[0004] In the prior art, when multiple intelligent bodies are integrated into intelligent robots, unmanned aerial vehicles, multi-motors, and underwater vehicles, there are still certain errors in the actual control accuracy of multiple intelligent bodies, and there is still a certain error between multiple intelligent bodies. There will be problems of mutual interference

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  • Anti-interference self-adaptive fuzzy sliding mode cooperative control method based on multiple agents
  • Anti-interference self-adaptive fuzzy sliding mode cooperative control method based on multiple agents
  • Anti-interference self-adaptive fuzzy sliding mode cooperative control method based on multiple agents

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[0027] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.

[0028] refer to figure 1 and figure 2 As shown, the multi-agent based anti-jamming self-adaptive fuzzy synovial cooperative control method of the present invention comprises the following steps: S1, obtaining a given speed of multiple intelligent agents Feedback speed χ i.1 , Feedback current signal χ i.2 and χ i.3 ; S2, integrating multiple intelligent bodies to determine the speed and feedback speed χ i.1 The deviation z i.1 , perform disturbance observation on multiple agents at the same time, and obtain the compensation control signal S3, the deviation z i.1 and compensating control signals Perform virtual control to obtain the q-axis control current signal The...

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Abstract

The invention relates to an anti-interference self-adaptive fuzzy sliding mode cooperative control method based on multiple agents. The method comprises the following steps of S1, acquiring the given speed feedback speed xi.1 and feedback current signals xi.2 and xi.3 of the multiple agents, S2, integrating a deviation zi.1 of the given speed feedback speed xi.1 of the multiple agents, performing disturbance observation on the multiple agents at the same time to obtain a compensation control signal, S3, performing virtual control on the deviations zi.1 and the compensation control signal to obtain a q-axis control current signal, and selecting a d-axis control current signal as 0, and S4, performing adaptive fuzzy sliding mode control on the control current signal and the feedback current signal xi.2 and xi.3 to obtain control voltage signals ui.q and ui.d of a q axis and a d axis. According to the anti-interference self-adaptive fuzzy sliding mode cooperative control method based on the multiple agents, the synchronous tracking precision of the multiple agents is improved, and cooperative control of the multiple agents can be achieved.

Description

technical field [0001] The invention relates to the technical field of multi-agent cooperative control methods, in particular to a multi-agent-based anti-interference adaptive fuzzy synovial cooperative control method. Background technique [0002] In recent years, aiming at the deficiencies of traditional synchronous control strategies, some scholars have proposed multi-agent consensus theory and structure to study multi-motor systems. In multi-agent systems, the consistency problem has always been the focus of research. The consistency of the so-called multi-agent system refers to the phenomenon that the state variables such as speed and distance of two or more agents maintain the relative relationship unchanged over time, and eventually tend to be synchronized. [0003] Olfati-Saberder et al. systematically gave the basic theoretical framework of the synchronization consensus protocol for the multi-agent consensus problem. Considering each agent as a node in a directed ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P5/00H02P5/50H02P21/00H02P21/13
CPCH02P5/00H02P5/50H02P21/0003H02P21/0007H02P21/001H02P21/13
Inventor 许德智张伟明杨玮林潘庭龙殷展翔陈友芹
Owner JIANGNAN UNIV
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