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Method for solving multi-agent consistency based on intermittent random noise

A multi-agent, random noise technology, applied in instruments, adaptive control, control/regulation systems, etc., to reduce control costs

Active Publication Date: 2022-04-05
GUANGDONG UNIV OF TECH
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  • Abstract
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  • Application Information

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Problems solved by technology

[0005] In order to solve the multi-agent consistency problem with environmental white noise, the present invention provides a method for solving multi-agent consistency based on intermittent random noise

Method used

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  • Method for solving multi-agent consistency based on intermittent random noise
  • Method for solving multi-agent consistency based on intermittent random noise
  • Method for solving multi-agent consistency based on intermittent random noise

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Embodiment

[0084] Such as figure 2 as shown, figure 2 is a two-dimensional error system, and the initial value of the error system is e 1 (0)=(0.7,0.2) T 、e 2 (0)=(0.9,0.4) T 、e 3 (0)=(1,0.1) T 、e 4 =(3,0.3) T , the system matrix Coupling coefficient c ij The error system diagram of 1 without environmental noise interference.

[0085] image 3 Is the system in the external noise density coefficient matrix is

[0086]

[0087] The following diagram of the error system.

[0088] Such as figure 1As shown in the multi-agent topology diagram, the system adjacency matrix can be obtained:

[0089]

[0090] Then according to the norm of the P system matrix and the first condition in the discriminant method, k is obtained 1 The value range of , choose k here 1 =3. Then set k 2 ,k 3 to determine the input matrix Q and the controller gain K, where k is chosen 2 =3.5,k 3 =3.6, K'=[1,2], Q=[0.9,1.3] T . Next, these three parameters can be used to calculate the noise wi...

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Abstract

The invention discloses a method for solving multi-agent consistency based on intermittent random noise, and the method comprises the steps: building a mathematical model of a multi-agent system; the multi-agent system comprises a leader and a plurality of followers; based on the mathematical model, establishing an error system of the multi-agent system; environment noise with white noise is introduced, and an error system of the environment noise with the white noise is constructed; based on the system error of the multi-agent system, constructing the consistency definition of the multi-agent system; according to the method, the noise controller meeting the judgment method is determined, under the action of the noise controller, the error between each follower and the leader is smaller and smaller, the consistency definition is established, and therefore the consistency problem of the multi-agent system is solved. Compared with the common continuous noise, the intermittent noise can reduce the control cost; in addition, the method also has the advantages of high control performance, easy determination of control parameters and the like.

Description

technical field [0001] The invention relates to the field of noise stabilization, and more specifically, to a method for solving multi-agent consistency based on intermittent random noise. Background technique [0002] Humans were first inspired by many natural biological coordinated flight phenomena, such as ant migration and other phenomena, which led to the discovery of multi-agents. With the rapid development of computer technology, complex network technology and communication technology, the coordinated control of multi-agent systems has become one of the research hotspots in the field of control science and control engineering. Multi-agent systems are mainly used in transportation networks, drone formations, and communication systems. Through a distributed controller, the state of each agent is kept consistent while tending to the leader state. The consistency of a multi-agent system means that the state between each participant and the leader remains unchanged durin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCY02T90/00
Inventor 张波蔡良翌陈良
Owner GUANGDONG UNIV OF TECH
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