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Data-driven multi-agent system PID control protocol self-learning method

A technology of multi-agent system and self-learning method, which is applied to electric controllers, controllers with specific characteristics, etc., to achieve the effect of ensuring performance optimization and ensuring optimality

Pending Publication Date: 2022-02-18
LIAONING UNIVERSITY OF PETROLEUM AND CHEMICAL TECHNOLOGY
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Problems solved by technology

[0005] Aiming at the problem of model-free PID multi-agent system consistency, the present invention provides a data-driven multi-agent system PID control protocol self-learning method, which can make All agents reach a consistent state, that is, to achieve consistency, and at the same time ensure the optimality of the specified performance of multi-agents

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  • Data-driven multi-agent system PID control protocol self-learning method

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Embodiment 1

[0198] Multi-agent system matrix:

[0199]

[0200] figure 1 As shown, given the communication topology diagram, the multi-agent edge weight is:

[0201] e 12 =0.8,e 14 =0.7,e 21 =0.8,e 31 =0.8,e 32 =0.5,e 43 = 0.8.

[0202] Figure 2-9 The evolution of the critic neural network weights for four agents is shown. Once the critic neural network weights are found, the PID and PI control parameters can be calculated. It can be found that under the learned PID control protocol, all agents have reached an agreement, such as Figure 10 and Figure 12 is shown in , where the neighbor error states and the state at which all agents reach the optimal consensus are plotted.

[0203] To demonstrate that the control performance achieved under the PID consistent control protocol may be better than state feedback control or proportional-integral (PI) control, and to demonstrate the generality of the developed model-free PID consistent control method, we contrast PI with PID.

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Abstract

The invention discloses a data-driven multi-agent system PID control protocol self-learning method. According to themethod,an optimal consistency problem for a PID-controlled multi-agent system is provided; the solving of control protocol parameters based on PID control is converted into the solving of a non-zero sum game problem, a non-strategy Q learning algorithm is provided, and online self-learning of the PID control protocol parameters and optimal consistency of the multi-agent system are achieved; a reinforcement learning (RL) technology and a neural network function estimation method are combined, the agent system is not required to be dynamically known, and measurable data are completely utilized to self-learn PID control protocol parameters. According to the method, all the agents can reach the consistent state with the dynamic model of the multi-agent system unknown, namely, the consistency is achieved, and meanwhile, the optimality of the specified performance of the multiple agents can be guaranteed.

Description

technical field [0001] The invention relates to a controller, in particular to a data-driven multi-agent system PID control protocol self-learning method. Background technique [0002] Multi-agent consistency has always been one of the key issues in complex dynamical systems, which means that all agents distributed in the network can asymptotically reach the same state. Although there have been research results on the consensus or optimal consensus of multi-agent systems, these methods mainly use the "current" information of the system to design the consensus or synchronization protocol. This presents a promising new research topic, that is, not only "present" information, but also "past" information and even "future" trends. [0003] The PID controller can make good use of the past value, present value and future trend of the tracking error in order to obtain a good transient state and stable performance. The results of existing PID-based multi-agent system consistency pr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 李金娜王佳琦
Owner LIAONING UNIVERSITY OF PETROLEUM AND CHEMICAL TECHNOLOGY
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