Leader selection method in affine formation of multi-agent system

A multi-agent system and leader technology, applied in the field of multi-agent control, can solve problems such as node difficulties and no attention to control, and achieve the effects of reducing cost and energy consumption, simplifying control functions, and facilitating switching and maneuvering control.

Active Publication Date: 2022-05-06
BEIJING INSTITUTE OF TECHNOLOGYGY
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Current research mainly explores network controllability wit

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  • Leader selection method in affine formation of multi-agent system
  • Leader selection method in affine formation of multi-agent system
  • Leader selection method in affine formation of multi-agent system

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Embodiment Construction

[0092] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0093] The present invention provides a leader selection method in the multi-agent system leader-follower formation method provided by the present invention, and its detailed implementation is as follows:

[0094] Step 1. Obtain the necessary and sufficient conditions for the controllability of the affine formation formation.

[0095] The specific process is as follows:

[0096] The present invention considers the d-dimensional plane motion of a multi-agent system composed of n agents (d is a positive integer). Its dynamic model is considered as a first-order model, namely

[0097]

[0098] where p i Indicates the position coordinates of agent i, Denotes the speed of agent i, u i is the control input of agent i. say is a configuration of the system, p * Represents the desired formation. R dn is a dn-dimensional real number vector;

[0099] ...

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Abstract

The invention discloses a leader selection method in affine formation of a multi-agent system, and after network topology and corresponding optimization indexes are given, several optimal agents can be automatically generated as leader. Firstly, an affine formation theory is elaborated and analyzed, and sufficient and necessary conditions for formation controllability and leader selection are obtained. And then, a leader selection problem for optimizing the convergence speed is modeled. And theoretical analysis is carried out to obtain the representation of the convergence rate, the representation is converted into a linear matrix inequality, and modeling is carried out to solve a mixed integer positive semidefinite programming problem. The method further comprises the step of optimizing a leader of control energy to select problem modeling. A linear quadratic regulator (LQR) correlation theory is adopted to express control energy, the control energy is converted into a matrix inequality, a bilinear term is relaxed, logic constraints are converted, modeling is carried out, and a mixed integer positive semidefinite programming problem is solved. Finally, affine formation control is carried out, and only the leader is controlled to reach the expected position.

Description

technical field [0001] The invention relates to the technical field of multi-agent control, in particular to a method for selecting a leader in an affine formation of a multi-agent system. Background technique [0002] In recent years, with the development of communication technology, computer technology, sensor technology and automation technology, multi-agent systems have been extensively researched and developed rapidly. In a multi-agent system, each agent is no longer an independent individual, but interacts and coordinates with other agents in the system to complete tasks together. Therefore, a multi-agent system can usually obtain more effective and powerful functions than a single agent. Its advantages are reflected in low cost, higher robustness and environmental adaptability, scalability, and more efficient task completion. Therefore, the coordinated control of multi-agent systems has become a topic of widespread concern, and the main methods can be divided into c...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 杨庆凯肖凡赵欣悦刘奇李若成方浩辛斌曾宪琳陈杰
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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