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Consistency control method for distributed dynamic event-triggered multi-agent system

A multi-agent system, event-triggered technology, applied in adaptive control, general control system, control/regulation system, etc., can solve the complex relationship between the system matrix and the minimum trigger time interval expression, the control performance analysis and Adjustment is unrealistic and other problems to achieve the effect of reducing the total number of event triggers, easy adjustment of control performance, and easy implementation

Active Publication Date: 2022-04-08
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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Problems solved by technology

At present, in some researches on event-triggered multi-agent control [1]-[2] , the expression of the minimum trigger time interval is given, but the relationship between the system matrix and the expression of the minimum trigger time interval is very complicated, which makes the control performance analysis and adjustment of the controlled system impractical

Method used

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  • Consistency control method for distributed dynamic event-triggered multi-agent system
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  • Consistency control method for distributed dynamic event-triggered multi-agent system

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Embodiment 1

[0068] Taking the multi-spacecraft formation control as the specific implementation method, a distributed dynamic event-triggered multi-intelligence system consistent control method includes the following steps:

[0069] Step 1: Using the coordinate transformation method, transform the relative dynamics formation model of multi-spacecraft in low-Earth orbit into a linear consistency model, the specific process is as follows:

[0070] Considering a multi-agent system with N spacecraft, the relative dynamics model of the i-th spacecraft relative to the virtual satellite is as follows:

[0071]

[0072] in, Represents the position of the i-th spacecraft in the rotating coordinate system, is the control input, w 0 is the angular velocity of the virtual satellite;

[0073] The position vector of the spacecraft The velocity vector is The control vector is If the velocity vectors of all spacecraft converge to the same value, and a preset distance is maintained between e...

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Abstract

The invention provides a consistency control method for a distributed dynamic event triggered multi-agent system, and belongs to the technical field of multi-agent system control. According to the method, a novel distributed dynamic event triggering mechanism based on the parameter Lyapunov equation is designed by utilizing the parameter Lyapunov equation, the influence of a feedback gain matrix K and a matrix B on the triggering time interval in the system can be eliminated, and meanwhile, an expression of the minimum triggering time interval is established; the minimum triggering time interval and the unique parameter gamma of the parameter Lyapunov equation have a clear and simple relationship, and the triggering time interval of the system can be dynamically adjusted by adjusting the unique parameter in the parameter Lyapunov equation, so that the balance between the control performance of the system and the triggering time interval is realized, and the stability of the system is improved. While the multi-agent system achieves the state consistency, the communication load and the mechanical loss of the actuator are effectively reduced, and the engineering realization is easy.

Description

technical field [0001] The invention belongs to the technical field of multi-agent system control, and in particular relates to a consistency control method of a distributed dynamic event-triggered multi-agent system. Background technique [0002] With the development of intelligent control technology, multi-agent systems have been widely used in real environments, and have potential impacts on multi-robot formation control, multi-unmanned ship cooperative control, smart grid control and other engineering and academic fields. At present, due to the rapid development of my country's intelligent control technology and the continuous improvement of various demands, the traditional single-agent control cannot meet the needs of completing high-precision and complex tasks. Therefore, the research on multi-agent cooperative control has received great attention from scholars. big concern. Consensus control, as a basic problem in multi-agent cooperative control, is the basis for mult...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCY02P90/02
Inventor 李铁山李美霖龙跃白伟伟
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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