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Actuator saturation multi-agent system gain scheduling control method

A multi-agent system, gain scheduling control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as reducing system performance, multi-agent systems cannot be consistent, and achieve faster convergence. effect of speed

Pending Publication Date: 2021-10-08
HANGZHOU DIANZI UNIV
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AI Technical Summary

Problems solved by technology

Neglecting actuator saturation can degrade system performance and even cause multi-agent systems to fail to converge

Method used

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  • Actuator saturation multi-agent system gain scheduling control method
  • Actuator saturation multi-agent system gain scheduling control method
  • Actuator saturation multi-agent system gain scheduling control method

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Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0058] Step 1. Establish the state space expression and communication topology diagram of the actuator saturated multi-agent system

[0059] A multi-agent system has N followers and a leader, where the state space expression of the leader is:

[0060]

[0061] The follower state space expression is:

[0062]

[0063] where i∈I[1,N] represents the i-th agent, x∈R n ,u∈R m They are the state vector and the input vector respectively, and n and m are positive integers. A∈R n×n is the system matrix with eigenvalues ​​on the imaginary axis, B∈R n×m is the input matrix, and (A, B) is controllable, SAT represents the asymmetric saturation function, which has the following form

[0064] SAT(u)=[SAT(u 1 ) SAT(u 2 )…SAT(u m )] T

[0065] and

[0066]

[0067] where v 1 >0, v 2 >0 and v 1 ≠ v 2 .

[0068] Through mathematical transformation of the asymmetric saturation function, the asymmetric saturation system of the actuator can be changed into the following switc...

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Abstract

The invention provides an actuator saturation multi-agent system gain scheduling control method, which comprises the following steps of: modeling a multi-agent system on the basis of algebraic graph theory knowledge, constructing a multi-agent information transmission route through a communication topological graph, obtaining a consistency error of multi-agents, and constructing a controller based on the consistency error and low gain feedback. According to the method, a discrete gain scheduling control method is researched to solve the consistency problem of the asymmetric input saturated multi-agent system, the multi-agent consistent convergence speed is improved by increasing the value of a low gain parameter offline through a given set, and meanwhile, the control targets that the multi-agent system is unified to cause convergence and an actuator does not generate saturation any more are achieved.

Description

technical field [0001] The invention relates to the technical field of multi-agent system consistency, in particular to a method for realizing consistency of an actuator-saturated multi-agent system based on gain scheduling control. Background technique [0002] With the development of science and technology, the application range of multi-agent systems in industrial, military, commercial and other practical applications is becoming wider and wider, such as mobile robot systems, unmanned aerial vehicles systems, underwater automatic robot systems, wireless sensor networks, etc. Wait. Among them, the consensus problem is a basic problem in the research of distributed cooperative control of multi-agent systems. The consistency problem of multi-agent systems has received more and more attention. [0003] The consistency problem is one of the core problems in the multi-agent system. The so-called consistency is to require each follower in the multi-agent system to be in the sa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 张涵王茜
Owner HANGZHOU DIANZI UNIV
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