Multi-intelligent vehicle system periodic sampling event triggering cooperative control method

Abstract

The invention discloses a multi-intelligent-vehicle system periodic sampling event triggering cooperative control method. According to a kinetic equation of a multi-intelligent-vehicle system, a communication topological relation of each intelligent vehicle in the system is represented by an undirected connected graph; secondly, an intelligent vehicle controller in the kinetic equation is designed, so that the control input of the controller does not need speed information of the intelligent vehicle any more, but only interacts position information to enable the multi-intelligent-vehicle system to achieve a consistent state; a corresponding event triggering condition function designed; according to control requirements, a mathematical method is used for further analysis to obtain a corresponding matrix inequality; all parameters enabling the multi-intelligent-vehicle system to be stable are solved; and finally, the finally designed control input and the event triggering condition function are written into the intelligent vehicle system. According to the invention, when the speed information is not easy to measure or cannot be measured, the state consistency of the whole system can be finally achieved only by interacting the position information.

Description

technical field [0001] The invention belongs to the field of multi-agent systems, and relates to a distributed event triggering control method for a multi-agent vehicle system with unknown information based on periodic sampling. Background technique [0002] Since the 1960s, computer technology has developed rapidly, and various social production activities have become increasingly intelligent and energy-saving. Therefore, intelligent body systems have also been widely used, such as transportation, fire rescue, and cave detection. In the field of transportation, especially in transportation, the application prospect of intelligent vehicle system is favored by experts. [0003] With the deepening of industrialization, the tasks in production activities can no longer be completed by a single agent system, and the concept of multi-agent system has emerged, that is, a series of difficult tasks are completed by multiple agent systems. . After further research by scholars at hom...

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Problems solved by technology

[0015] a) By observing the second item in Equation (2), it can be found that the smart car i in this system not only needs to exchange position information with its neighbor smart cars, but also must exchange speed information with its neighbors to make the entire system reach state synchronization. However, when the system When the speed information of each smart car in (1) cannot be directly measured or cannot be obtained through measurement, the control input (2) will no longer be applicable

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