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Multi-agent consistency control method based on time synchronization stability

A multi-agent, time synchronization technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., to achieve the effect of improving control performance, reducing control energy consumption, and stabilizing cooperative tracking

Pending Publication Date: 2022-04-29
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The present invention is suitable for the problem of synchronous convergence and consistency tracking of all states of multi-agent fixed time

Method used

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  • Multi-agent consistency control method based on time synchronization stability
  • Multi-agent consistency control method based on time synchronization stability
  • Multi-agent consistency control method based on time synchronization stability

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Embodiment Construction

[0048] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only for illustration and are not intended to limit the present invention.

[0049] Such as figure 1 As shown, the specific implementation of the multi-agent consensus tracking control method based on time synchronization stability of the present invention will be described in detail.

[0050] In step S1, the second-order dynamic model of the multi-agent is established as follows:

[0051]

[0052]

[0053] where the position and velocity vectors are i∈{1,2,3,4}, is the control law.

[0054] select

[0055] q i =-i(-1) i [4,-6,8] T (3)

[0056] The incidence matrix is:

[0057] The new direction sign function in step S2 is designed and defined as follows:

[0058]

[0059] in is any n-dimensional vecto...

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Abstract

The invention discloses a multi-agent consistency control method based on time synchronization stability, and the method comprises the following steps: building a second-order dynamic model of multiple agents, and designing a formation auxiliary function; based on the mathematical principle of a unit direction vector, designing a novel direction sign function, and constructing a novel fixed time sliding mode surface by using the function; aiming at the multi-agent system, designing convergence time of the multi-agent system and constructing a fixed time synchronous convergence controller to realize position consistent tracking of the multi-agent system; and the states of all the multiple agents cooperatively reach a balance point. The control method provided by the invention has the characteristics of strong robustness, high control precision and the like, and is suitable for the synchronous convergence consistency tracking problem of all states of the multi-agent fixed time.

Description

technical field [0001] The invention relates to a multi-agent consistency control method based on time synchronization and stability, which is mainly applied to spacecraft constellation formation, unmanned ship distribution tracking, etc., and belongs to the technical field of multi-agent control. Background technique [0002] With the rapid development of modern communication and intelligent computing, multi-agent systems have received more and more attention from scholars. Due to its advantages of low cost, network operation and high flexibility, it has been proved effective in many practical applications. Multi-agent cooperative control is to form a regular and orderly movement through the cooperation of multiple multi-agents. Multi-agent distributed tracking control not only has basic theoretical value, but also has important engineering application prospects. For actual system models that can widely represent spacecraft, robots, and unmanned vehicles, it is an urgent ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李东禹胡庆雷杨昊旸郑建英邵小东
Owner BEIHANG UNIV