Finite time multi-group cooperative control method of fractional order unmanned system

Abstract

The invention requests to protect a finite-time multi-group cooperative control method for a fractional-order unmanned system, the unmanned system is a typical application in the field of multi-agent system control, and the method comprises the following steps: determining a topological structure of the system; setting a consistent value expected to be reached by each agent group in the system; carrying out containment on the intelligent agent meeting the containment condition; each agent sends own position information to a neighbor agent, and the received information of the neighbor agent is divided according to groups to obtain the position information of the agents in the same group and the position information of the agents in different groups; processing the received information by each agent to obtain an intermediate error variable, and converting a fractional order system into an integer order system related to the intermediate error variable; processing the intermediate error variable according to a finite time multi-group consistent control protocol to obtain a position error of the agent and a neighbor agent; and substituting the position error into the dynamic equation to update the position state of the intelligent agent, so that the system realizes multi-group consistency within limited time.

Description

technical field [0001] The invention relates to the field of multi-agent system control. Specifically, it relates to a limited-time multi-group cooperative control method for fractional-order unmanned systems. Background technique [0002] In recent years, researchers have proposed multi-agent systems inspired by the movement of biological swarms in nature. The multi-agent system has the advantages of autonomy, distribution, coordination, etc., and has good robustness and reliability, which can solve many practical problems in engineering applications, so it has caused many fields of computer science, control engineering and so on. It has been widely concerned and researched, and has been widely used in various fields. Among them, unmanned system is a typical application of multi-agent system. [0003] Consistency problem, as the basis of cooperative control of multi-agent systems, is also of great significance and has become an area of ​​concern in cooperative control. ...

AI Technical Summary

Problems solved by technology

What this patent achieves is finite time consistency, that is, the multi-agent system can reach a consistent state within a limited time, while what the above-mentioned patent achieves is asymptotic consistency, that is, the system achieves state convergence to consistency within an infinite time ; The system in this patent can also achieve group consistency, that is, it can achieve consistency in different states. In practical applications, group consistency can make the system divide large-scale multi-tasks into multiple small tasks, and hand them over to the intelligent bodies of each group for cooperation Completed, and the above-mentioned patents achieve global consistency, that is, all agents achieve the same state and consistency. For large-scale multi-task situations, it cannot complete tasks better

Since the issues discussed by the two are completely different, the comparison is not great)

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