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Multi-agent event-driven control method with saturation input

An event-driven, multi-agent system technology, applied in the field of event-driven control of multi-agent systems, can solve problems such as non-consistency, and achieve the effects of avoiding Zeno phenomenon, saving resources, and reducing the number of updates

Pending Publication Date: 2021-12-31
BEIJING UNIV OF TECH
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

The document "Du, S.L., Dong, L., & Ho, D..(2017). Event-triggered control for output synchronization of heterogeneous network with input saturation constraint. IECON 2017-43rd Annual Conference of the IEEE Industrial Electronics Society. IEEE" uses low gain The technology effectively avoids the input saturation nonlinearity, but the research is aimed at the output synchronization problem of the heterogeneous multi-agent system, not the consistency problem

Method used

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  • Multi-agent event-driven control method with saturation input
  • Multi-agent event-driven control method with saturation input
  • Multi-agent event-driven control method with saturation input

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Embodiment 1

[0091] An event-driven control method applicable to a multi-agent system with saturated inputs, the method comprising the steps of: figure 1 Represents the differential equation model for constructing agents for multi-agents under saturation constraints. Its composition is specifically implemented as follows:

[0092] Step 1. Construct the state space model of each agent for the agent with saturated input, and give the assumptions that its system matrix needs to meet. Specifically

[0093]

[0094] Here, x i (t)∈R n , representing the state vector of agent i, u i (t)∈R m represents the input of agent i. and u i (t) has the limitation of saturated nonlinearity, so (1) can also be written as:

[0095]

[0096] And assume that (A, B) is asymptotically zero-controllable under bounded control, that is, (A, B) is stable; all eigenvalues ​​of A are on the closed left-half s-plane.

[0097] The topology of multi-agent can be described as:

[0098] Let the undirected gr...

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Abstract

The invention relates to the field of multi-agent consistency control, and particularly provides an event-driven control design method suitable for a multi-agent system with saturated input. The method comprises the following steps: 1, constructing a state space model of each agent for the agent with saturation input; and giving assumed conditions needing to be met by a system matrix; 2, based on the multi-agent system model established in the step 1, designing a control law capable of enabling the system to achieve consistency, designing a proper low feedback gain, and optimizing a nonlinear agent model into a linear model; 3, carrying out consistency proving on the event-driven control law by utilizing a Lyapunov function method. According to the invention, the low-gain technology based on the algebraic Riccati equation can be utilized to optimize the linear system, so that the dependence is reduced; therefore, the updating times of the control law can be effectively reduced on the basis of completing the consistency control task, and resources are saved; and the method can effectively avoid the Zeno phenomenon.

Description

technical field [0001] The invention relates to the field of multi-agent consensus control, in particular to an event-driven control method for a multi-agent system under saturated input. Background technique [0002] In recent years, multi-agent systems have attracted the attention of many researchers and become a research hotspot in the field of automatic control. The wide application of multi-agent systems in frontier fields such as drone formations, multi-robot formations, and distributed sensor networks has made people's interest in it continue to increase. In the field of multi-agent system research, the consistency problem is of great significance, and it is the basis for the cooperation between agents. Consistency refers to the fact that the agent analyzes and calculates the information from its neighbors, so as to continuously adjust its behavior, so that each state parameter (such as position, speed, angle, etc.) of each agent changes over time. time to reach a c...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042Y02T10/40
Inventor 杜胜利盛宏高永峰
Owner BEIJING UNIV OF TECH
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