A multi-agent cooperative tracking control system and method based on bias correction

By introducing a data buffer, dual predictor generator, and delay compensator into the multi-agent system, the random network delay between agents and in the feedback channel is actively compensated, thus solving the communication constraint problem of the networked multi-agent system and improving the system's control performance and stability.

CN116577992BActive Publication Date: 2025-11-28NORTH CHINA UNIVERSITY OF TECHNOLOGY
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Patent Information

Application Number
CN202310675322.5
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2023-06-07
Publication Date
2025-11-28
Estimated Expiration
2043-06-07

AI Technical Summary

Technical Problem

Existing networked multi-agent systems suffer from control performance and stability issues due to communication constraints such as random network-induced delays, out-of-order packets, and packet loss. Furthermore, the state cannot be directly measured, and existing methods are not flexible or effective enough in handling these issues.

Method used

A multi-agent cooperative tracking control system based on deviation correction is adopted, including a data buffer, dual predictor generator, control predictor and delay compensator. The cooperative tracking control method is designed to actively compensate for the random network delay between agents and the feedback channel of each agent through predictive control.

Benefits of technology

It improves the control performance and stability of multi-agent systems, effectively handles random network delays, out-of-order data packets and loss caused by communication networks, and realizes collaborative tracking control among agents.

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Abstract

The application discloses a kind of deviation correction-based multi-agent cooperative tracking control system and method, it is related to engineering control field, this multi-agent cooperative tracking control system, comprising: data buffer, double prediction generator, control predictor and time delay compensator;Data buffer obtains and caches the output data packet of agent;Double prediction generator calculates predicted value using predictive control method according to output data packet, system reference input signal, historical control quantity and random network time delay, and the predicted value is divided into self-control predicted value and output predicted value;Control predictor calculates control quantity according to self-control predicted value and the output predicted value received from other double prediction generator, to obtain control packet;Time delay compensator selects corresponding control quantity from control sequence according to the random network time delay of the feedforward channel of agent and the time stamp in control packet, and applies to agent on.The application can improve the control performance and stability of multi-agent system.
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Citation Information

Patent Citations

  • Networked control system and predictive output tracking control method

    CN111045331A

  • Control device and control method

    JP2017146665A