Discontinuous self-delay multi-agent system consistency and saturation distributed control method

A multi-agent system and distributed control technology, applied in the information field, can solve problems such as the aggravation of control signal roughness, achieve the effects of accelerating the speed of consistent convergence, improving control effects, and enhancing universality

Pending Publication Date: 2021-11-16
JIANGNAN UNIV
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Problems solved by technology

However, the phenomenon of increasing the roughness of the control signal caused by the clipping effect of the saturation strategy is often ignored

Method used

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  • Discontinuous self-delay multi-agent system consistency and saturation distributed control method
  • Discontinuous self-delay multi-agent system consistency and saturation distributed control method
  • Discontinuous self-delay multi-agent system consistency and saturation distributed control method

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Embodiment Construction

[0092] The technical solutions of the present invention will be further described below according to the drawings and embodiments.

[0093] Step 1: Configure system parameters. Consider a discontinuous multi-agent system composed of 4 agents, each agent has 3 state components (N=4,n=3), the specific form is as follows

[0094]

[0095] From this, the state inline matrix B=diag(-1.3,-1.5,-2.4) and the delay configuration matrix D can be obtained 1 =diag(0,0,1),D 2 =diag(1,1,0), S=2. Discontinuous kinetic function take m 0 =0.1.

[0096] Step 2: Select the distributed control matrix parameters. In order to realize the state information interaction between agents, the control coupling matrix is ​​selected to realize distributed control. If the first agent is taken as a reference node (isolated node), it cannot receive status update information from other agents. But it can transmit its own state information to other agents, that is to say a 1j =0,j=1,2,3,4.

[0097] ...

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Abstract

The invention provides a discontinuous self-delay multi-agent system consistency and saturation distributed control method, and belongs to the technical field of information. A distributed negative feedback controller with a time-varying control gain is used to realize state information interaction between the agents. In consideration of an actual system operation environment and control cost, an external saturation link is added to limit the amplitude of a control signal within a reasonable range; a saturation effect is approximately simulated by using a Gaussian error function and a differential median theorem, so that the unsmoothness of a control signal is reduced; the discontinuity of the nonlinear kinetic function is processed by applying a Filippov differential inclusion theory and a measure selection theorem; and then an index consistency judgment condition and a maximum allowable time delay are obtained through a generalized Halanay inequality and a Lyapunov stability theorem; and finally, the effectiveness of the control strategy provided by the invention is verified through numerical simulation.

Description

technical field [0001] The invention relates to a discontinuous mixed self-time-delay multi-agent system index consistency technology, which belongs to the field of information technology. Background technique [0002] Distributed artificial intelligence is an important research direction in the field of artificial intelligence, and multi-agent system (MAS) is one of its main branches. With the rapid development of computer technology and network communication technology, the related research corresponding to MAS has become a new research direction in the field of information science. Due to the strong autonomy and adaptability of the agent, more and more scholars have begun to pay attention to the research on its theory and application. The relevant theories of MAS have been widely used in many fields such as e-commerce, intelligent transportation, and multi-robot systems. [0003] In recent years, the analysis and research of MAS from the perspective of control has becom...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/418
CPCG05B19/41845G05B2219/33273Y02P90/02
Inventor 汤泽王佳枫王艳纪志成
Owner JIANGNAN UNIV
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