Anti-interference adaptive fuzzy sliding mode cooperative control method based on multi-agent

Abstract

The invention relates to a multi-agent-based anti-interference adaptive fuzzy sliding mode cooperative control method, comprising the following steps: S1. Obtaining a given speed feedback speed χ of multiple agents i.1 , feedback current signal χ i.2 and χ i.3 ; S2. Integrate the given speed and feedback speed χ of multiple agents i.1 get the deviation z i.1 , perform disturbance observation on multiple agents at the same time, obtain the compensation control signal S3, and adjust the deviation z i.1 Perform virtual control with the compensation control signal to obtain the q-axis control current signal, and select the d-axis control current signal as 0; S4, the control current signal sum and the feedback current signal χ i.2 and χ i.3 The control voltage signal u of q-axis and d-axis is obtained by adaptive fuzzy sliding mode control i.q and u i.d . The invention is based on the multi-agent anti-interference adaptive fuzzy sliding mode cooperative control method, improves the synchronous tracking accuracy of multiple agents, and can realize the coordinated control of multiple agents.

Description

technical field [0001] The invention relates to the technical field of multi-agent cooperative control methods, in particular to an anti-interference adaptive fuzzy sliding mode cooperative control method based on multi-agents. Background technique [0002] In recent years, in view of the shortcomings 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 so-called consistency of a multi-agent system refers to the phenomenon that the state variables of two or more agents, such as speed and distance, maintain the relative relationship unchanged in the process of changing with time, and eventually tend to be synchronized. [0003] For the multi-agent consensus problem, Olfati-Saberder et al. systematically gave the basic theoretical framework of synchronous consensus protocol. Each agent is reg...

AI Technical Summary

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

Images