Pulse window-based disturbed nonlinear multi-agent quasi-consistency method and system

A multi-agent system and non-linear technology, applied in the information field, can solve the problems of increasing the conservatism of research results, ignoring the randomness of pulse sequences, etc., and achieve the effects of reducing conservatism, improving control efficiency, and facilitating implementation

Active Publication Date: 2022-07-08
JIANGNAN UNIV
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Problems solved by technology

However, most of the existing work assumes that the pulse sequence is fixed in advance, which undoubtedly ignores the randomness of the pulse sequence and thus increases the conservatism of the research results.

Method used

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  • Pulse window-based disturbed nonlinear multi-agent quasi-consistency method and system
  • Pulse window-based disturbed nonlinear multi-agent quasi-consistency method and system
  • Pulse window-based disturbed nonlinear multi-agent quasi-consistency method and system

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Embodiment Construction

[0066] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0067] like figure 1 As shown, it is a quasi-consistent method for disturbed nonlinear multi-agents based on impulse windows in a preferred embodiment of the present invention, and the method for quasi-consistency of disturbed nonlinear multi-agents based on impulse windows includes the following steps:

[0068] Step S1, constructing a mathematical model of the nonlinear multi-agent system subject to external disturbance;

[0069] Specifically, the mathematical model of the externally disturbed nonlinear multi-agent system is as follows:

[0070]

[0071] in, is the ith agent z in the system i state vector of ; matrix is the constant parameter matrix in the system; t is the ti...

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Abstract

The invention discloses a disturbed nonlinear multi-agent quasi-consistency method based on a pulse window, and the method comprises the steps: building a nonlinear multi-agent system model with disturbance, introducing a pulse time window into a system through employing a discrete Lyapunov function method under the condition of considering a random pulse sequence, and achieving the quasi-consistency of a disturbed nonlinear multi-agent system. According to the influence of different pulse effects on the system global index quasi-consistency, a controller is designed by fully combining multiple control methods such as pulse control, containment control and distributed control, and full quasi-consistency discrimination conditions under different pulse effects are given by using methods such as parameter variation and pulse comparison principles. And accurately calculating a quasi-consistency convergence rate and an error boundary corresponding to the system. In addition, the Chua's circuit is used for carrying out numerical simulation so as to verify the effectiveness of the quasi-consistency method provided by the invention.

Description

technical field [0001] The invention relates to the field of information technology, in particular to a perturbed nonlinear multi-agent quasi-consistency method and system based on an impulse window. Background technique [0002] With the continuous advancement of science and technology, multi-agent systems have been widely used in wireless sensor networks, unmanned driving, robot formations and other fields. Generally speaking, multi-agent is a combination of many independent agents. Its goal is to build a huge and complex system into a miniature and easy-to-manage system. Most of the agents are distributed, with limited information processing and execution capabilities, and limited bandwidth in sensing and communication capabilities. Therefore, how to make the agents work together is one of the main issues that people pay attention to. As a typical swarming phenomenon, consistency exists widely in nature, such as group feeding of fish swarms, bird migration, cooperative ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042Y02P90/02
Inventor 汤泽王鲲鹏王艳
Owner JIANGNAN UNIV
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