Discrete system-based heterogeneous distributed cluster system formation control algorithm

Abstract

The invention discloses a heterogeneous distributed cluster system formation control algorithm based on a discrete system, and the algorithm comprises the steps: constructing a communication topological relation of a multi-agent system which comprises a plurality of second-order agents and first-order agents; respectively constructing a kinetic model and a formation function of a second-order intelligent agent and a first-order intelligent agent; each agent obtains a state vector and a formation function of an adjacent agent; obtaining control instruction state quantities of each second-order intelligent agent and each first-order intelligent agent; and based on the dynamic model, the control instruction state quantity and the state vector of each agent at the k moment, obtaining a position vector of each agent at the k + 1 moment, and according to the position vector of each agent at the k + 1 moment, obtaining the state vector of each agent at the k + 1 moment and a new control instruction state quantity so as to maintain formation control. According to the method, the discrete time system is utilized, the communication traffic among the multi-agent systems is effectively reduced, the two types of agents are controlled, and the multi-agent system formation algorithm better conforms to the actual system.

Description

technical field [0001] The invention belongs to the field of multi-agent formation control, and more particularly relates to a formation control algorithm and system of a heterogeneous distributed cluster system based on a discrete system. Background technique [0002] Multi-agent control is a problem raised by people imitating the group phenomenon in nature. For example, cooperative predation such as biological insects, birds and schools of fish. Behaviors, such as jointly defending against intruders, all show a certain group trait. With the improvement of embedded computing and communication capabilities, and the development of distributed thinking, people have begun to realize that the cooperation of multi-agent systems can complete more complex tasks at a lower cost. Compared with a single agent, multi-agent systems, especially distributed multi-agent systems, have many obvious advantages. [0003] Multi-agent formation control is a hot issue in current multi-agent sy...

AI Technical Summary

Problems solved by technology

In addition, the actual communication equipment is limited by the communication bandwidth, and the amount of data sent per unit time has an upper limit, so it is required to communicate as few times as possible, otherwise

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