A multi-agent system control method under saturation constraint and time delay

Abstract

The application provides a kind of multi-agent system control method under the condition of having saturation constraint and time delay, it is related to intelligent control technical field, comprising: establishing multi-agent system model, wherein, virtual leader is established between leader and follower agent, follower communicates with virtual leader, virtual leader communicates with leader, on this basis, controller is designed based on saturation constraint and communication time delay, error system between follower agent and leader is constructed, consistency condition is established, and the leader-following consistency of multi-agent system is controlled.The application is aimed at the problem that the dimensions of leader and follower in the model are different, a virtual leader is established between leader and follower agent, and the communication between actual leader and follower is completed.In addition, in view of the actual situation that the inherent properties of agent are limited, the control protocol is adjusted based on saturation constraint information and communication time delay, so that the leader-following consistency of the system is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent control, and particularly relates to a multi-agent system control method under saturation constraint and time delay. BACKGROUND

[0002] The swarm intelligence of a multi-agent system (MAS) is usually embodied in a swarm behavior, and cooperative control of the multi-agent system has attracted extensive attention in recent years due to its wide application prospects, such as multi-unmanned aerial vehicle swarm coverage, robot swarm formation, and unmanned vehicle swarm encirclement, etc. The consensus tracking problem of the multi-agent system as an important problem in the field of cooperative control of the multi-agent system has caused researches of many scholars. The multi-agent system can not only overcome the limitations of a single agent in load, coverage, and fault tolerance, but also improve the execution efficiency of cooperative tasks and the survivability of the whole system. The leader-follower consensus control problem is a basic problem of cooperative control of the multi-agent system and is widely studied. The leader-follower consensus control refers to that all followers track the trajectory of a leader.

[0003] However, the state dimensions of the leader and the followers are different, and it is not feasible to directly use the relative information between the leader and the followers to design a control protocol, in addition, communication saturation constraint and communication time delay may occur in actual applications, which adversely affect the consensus tracking. SUMMARY

[0004] The present application aims at solving the problem of poor control effect between the leader and the followers in the current multi-agent system, and provides a multi-agent system control method under saturation constraint and time delay.

[0005] The technical scheme of the present application embodiment is implemented as follows:

[0006] The present application embodiment provides a multi-agent system control method under saturation constraint and time delay in the first aspect, which comprises:

[0007] S110, establishing a multi-agent system model;

[0008] Considering a heterogeneous multi-agent system composed of χ followers and 1 leader, the dynamic equation is as follows:

[0009]

[0010] wherein, ρ a (t)∈Rp, Θ a (t) respectively represent the state and control input of the i-th follower, ρ0(t)∈R q , Θ0(t) are the state and control input of the leader, and p≠q, κ a∈ R p×p and κ0∈ R q×q is a preset parameter matrix, at least one follower obtains information from the leader, and there exists a matrix ω a such that ω a κ0=κ a ω a , a={1, 2,..., χ};

[0011] A virtual leader is established between the leader and the follower agent, the follower communicates with the virtual leader, and the virtual leader communicates with the leader; the dynamic equation of the virtual leader is as follows:

[0012]

[0013] S120, designing a controller;

[0014] The control protocol is adjusted based on saturation constraints and communication time delay, and the control protocol is as follows:

[0015]

[0016] wherein, α a , β a are parameters of the control protocol, v is a delay time, s ab , σ a are determined by the topological graph of the HMAS.{t i} is a set of impulse time sequences, satisfying 0 i i+1 and

[0017] S130, constructing an error system between the follower agent and the leader;

[0018] The error between the follower and the virtual leader is ψ a (t)=ρ a (t)-ω a Ψ a (t), and the error between the virtual leader and the actual leader is φ a (t)=Ψ a (t)-ρ0(t), so we can get:

[0019]

[0020] wherein, ψ(t)=[ψ1(t), ψ2(t),..., ψ χ (t)] T , φ(t)=[φ1(t), φ2(t),..., φ χ (t)] T ​, κ = diag [κ1, κ2,..., κ χ ], κ0= diag [κ0, κ0,..., κ0], ω = diag [ω1, ω2,..., ω χ ], σ = diag [σ1, σ2,..., σ χ ], α = diag [α1, α2,..., α χ ], β = diag [β1, β2,..., β χ ],

[0021] S140, establishing a consistency condition, when satisfying the following inequality:

[0022]

[0023] controlling the multi-agent system to achieve leader-following consensus.

[0024] Optionally, a virtual leader is established between the leader and the follower agents, the follower communicates with the virtual leader, and the virtual leader communicates with the leader, including:

[0025] At least one virtual leader is set for each follower, a first connection channel is established between the follower and the corresponding virtual leader, and a second connection channel is established between each virtual leader and the leader.

[0026] Optionally, further comprising: using graph theory knowledge to establish information interaction characteristics between the leader and the virtual leader and between the virtual leader and the follower.

[0027] The second aspect of the embodiment of the application provides a multi-agent system control device under saturation constraint and time delay, including: a model establishing module, a control design module, an error system constructing module and a consensus control module, wherein,

[0028] The model establishing module is configured to establish a multi-agent system model;

[0029] Consider a heterogeneous multi-agent system composed of χ followers and 1 leader, and the dynamics equation is as follows:

[0030]

[0031] wherein, ρ a (t)∈R p , Θ a (t) respectively represent the state and control input of the i-th follower, ρ0(t)∈R q , Θ0(t) is the state and control input of the leader, and p≠q, κa ∈R p×p and κ0∈R q×q is a preset parameter matrix, at least one follower obtains information from the leader, and there exists a matrix ω a such that ω a κ0=κ a ω a ,a={1,2,…,χ};

[0032] A virtual leader is established between the leader and the follower agent, the follower communicates with the virtual leader, and the virtual leader communicates with the leader; the dynamic equation of the virtual leader is as follows:

[0033]

[0034] The control design module is configured to design a controller.

[0035] The control protocol is adjusted based on saturation constraints and communication time delay, and the control protocol is as follows:

[0036]

[0037] wherein, α a , β a are parameters of the control protocol, v is a delay time, s ab , σ a are determined by the topology of the HMAS.{t i} is a set of impulse time sequences, satisfying 0<t i <t i+1 and

[0038] The error system construction module is configured to construct an error system between the follower agent and the leader.

[0039] The error between the follower and the virtual leader is ψ a (t)=ρ a (t)-ω a Ψ a (t), and the error between the virtual leader and the actual leader is φ a (t)=Ψ a (t)-ρ0(t), so that:

[0040]

[0041] wherein, ψ(t)=[ψ1(t), ψ2(t),..., ψ χ (t)] T , φ(t)=[φ1(t), φ2(t),..., φχ (t)] T , K = diag [K1, K2,..., K χ ], K0 = diag [K0, K0,..., K0], ω = diag [ω1, ω2,..., ω χ ], σ = diag [σ1, σ2,..., σ χ ], α = diag [α1, α2,..., α χ ], β = diag [β1, β2,..., β χ ],

[0042] The consistency control module is configured to establish a consistency condition when the following inequality is satisfied:

[0043]

[0044] The multi-agent system is controlled to achieve leader-following consensus.

[0045] The third aspect of the embodiments of the present application provides an electronic device, comprising a processor and a memory; the memory has a computer program stored therein, wherein the computer program, when executed by the processor, implements the multi-agent system control method under saturation constraint and time delay according to the first aspect.

[0046] The fourth aspect of the embodiments of the present application provides a computer readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the steps of the method according to the first aspect.

[0047] Compared with the prior art, the technical scheme provided by the present application has the beneficial effects that:

[0048] The present application provides a multi-agent system control method and device under saturation constraint and time delay, by establishing a multi-agent system model, at least one virtual leader is provided between the leader and the follower, the follower communicates with the virtual leader, the virtual leader communicates with the actual leader, on this basis, a controller is designed based on saturation constraint and communication time delay, an error system between the follower agent and the leader is constructed, a consistency condition is established, and the multi-agent system is controlled to achieve leader-following consensus. By constructing a virtual leader between the leader and the follower, communication between the actual leader and the follower is completed. In addition, in view of the actual situation that the inherent properties of the agent are limited, the control protocol is adjusted based on saturation constraint information and communication time delay, so that the system achieves leader-following consensus, and the consensus tracking accuracy of the multi-agent system is improved. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1A flowchart of a multi-agent system control method with saturation constraints and time delays provided by an embodiment of the present application is shown in FIG. 1.

[0050] Figure 2 A structural diagram of a multi-agent system control device with saturation constraints and time delays provided by an embodiment of the present application is shown in FIG. 2.

[0051] Figure 3 A structural diagram of an electronic device provided by an embodiment of the present application is shown in FIG. 3. DETAILED DESCRIPTION

[0052] Embodiments of the present application will be described below with reference to the accompanying drawings. It should be understood, however, that the description that follows is merely exemplary and is not intended to limit the scope of the present application. In the following detailed description of embodiments of the present application, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that one or more embodiments of the present application can be practiced without these specific details. In other instances, well-known structures and functions have not been described in detail in order to avoid obscuring aspects of the present application.

[0053] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used herein, the term "includes" and tautological expressions thereof, means the inclusion of the stated features, steps, operations, and / or elements but not to the exclusion of one or more other features, steps, operations, and / or elements that might be added and / or a quantity of such addition.

[0054] All terms used herein (including technical and scientific terms) have the meanings commonly understood by one of ordinary skill in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted as having a meaning that is consistent with the context of the specification, and should not be interpreted in an idealized or overly formal way.

[0055] Some of the blocks and / or flowcharts in the drawings represent computer program instructions, or portions of computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowcharts and / or block diagrams.

[0056] In some embodiments, please refer to Figure 1 , Figure 1 A flowchart of a multi-agent system control method with saturation constraints and time delays provided by an embodiment of the present application is shown in FIG. 1. The multi-agent system control method with saturation constraints and time delays provided by an embodiment of the present application includes:

[0057] S110, a multi-agent system model is established.

[0058] Consider a heterogeneous multi-agent system consisting of χ followers and 1 leader, whose dynamics equations are as follows:

[0059]

[0060] Wherein, ρ a (t)∈R p , Θ a (t) respectively represent the state and control input of the i-th follower, ρ0(t)∈R q , Θ0(t) is the state and control input of the leader, and p≠q, κ a ∈R p×p and κ0∈R q×q are preset parameter matrices, at least one follower obtains information from the leader, and there exists a matrix ω a such that ω a κ0=κ a ω a , a={1,2,…,χ};

[0061] A virtual leader is established between the leader and the follower agent, the follower communicates with the virtual leader, and the virtual leader communicates with the leader; the dynamics equation of the virtual leader is as follows:

[0062]

[0063] S120, design a controller;

[0064] Adjust the control protocol based on saturation constraints and communication time delay, and the control protocol is as follows:

[0065]

[0066] Wherein, α a , β a are parameters of the control protocol, v is the delay time, s ab , σ a are determined by the topology of the HMAS.{t i} is a set of impulse time sequences, satisfying 0<t i <t i+1 and

[0067] S130, construct an error system between the follower agent and the leader;

[0068] The error between the follower and the virtual leader is ψ a (t)=ρ a (t)-ω a Ψ a(t), the error between the virtual leader and the actual leader is φ a (t) = Ψ a (t) - p0(t), thus we can get:

[0069]

[0070] where ψ(t) = [ψ1(t), ψ2(t),..., ψ χ (t)] T , φ(t) = [φ1(t), φ2(t),..., φ χ (t)] T , κ = diag [κ1, κ2,..., κ χ ], κ0 = diag [κ0, κ0,..., κ0], ω = diag [ω1, ω2,..., ω χ ], σ = diag [σ1, σ2,..., σ χ ], α = diag [α1, α2,..., α χ ], β = diag [β1, β2,..., β χ ],

[0071] S140, a consistency condition is established, when the following inequality is satisfied:

[0072]

[0073] The leader-following consensus of the multi-agent system is achieved.

[0074] In some embodiments, a Lyapunov function V(t) is constructed when t ≠ t i :

[0075]

[0076] We can get ; when t = t i :

[0077]

[0078] At this time, we can get:

[0079]

[0080] When t ∈ [t0, t1], further through the derivation, when t ∈ (t i , t i+1 ],

[0081]

[0082] Define the maximum value of the pulse interval d max ≥ t i -t i-1 , It can be obtained

[0083]

[0084] Under the conditions of the foregoing, the system can achieve consistency.

[0085] In some embodiments, a virtual leader is established between the leader and the follower agent, the follower communicates with the virtual leader, and the virtual leader communicates with the leader, comprising:

[0086] At least one virtual leader is set for each follower, and a first connection channel between the follower and the corresponding virtual leader and a second connection channel between each virtual leader and the leader are established.

[0087] In this embodiment, the virtual leader serves as an intermediate layer between the actual leader and the follower, and becomes an intermediary for communication and coordination. The leader, the virtual leader and the follower are connected through different connection channels. The virtual leader can simplify the complex instructions of the actual leader into a form that is easy for the follower to understand and execute, and then transmit it to the follower, or it can monitor the state of the follower and feedback to the actual leader for necessary adjustments. For example, in a robot formation task, one or more actual leaders are responsible for overall task planning, while virtual leaders are responsible for assigning complex tasks to individual robots (followers) and monitoring their execution. In a distributed system, the actual leader can be a master node responsible for overall scheduling and resource allocation. The virtual leader acts as a sub-node or agent, responsible for assigning tasks to individual computing units (followers) and collecting their execution results. In a large network, the actual leader can be a network control center, while the virtual leader can be a regional router or switch, responsible for transmitting instructions from the network control center to individual network nodes (followers) and monitoring network status. The virtual leader can adjust the communication strategy with the follower according to the actual situation to optimize system performance.

[0088] In some embodiments, it further comprises: using graph theory knowledge to establish the information interaction characteristics between the leader and the virtual leader and between the virtual leader and the follower.

[0089] When using graph theory to establish the information interaction characteristics between leaders, virtual leaders, and followers, the system can be viewed as a directed graph. In this graph, nodes represent different entities (leaders, virtual leaders, and followers), and directed edges represent the direction of information flow. Information starts from the leader node, passes through the virtual leader node, and finally reaches the follower node, forming a hierarchical information transmission structure. This hierarchy helps reduce the direct communication burden between the leader and a large number of followers, thereby improving the system's scalability.

[0090] This application's embodiments establish a multi-agent system model, with at least one virtual leader between the leader and followers. Followers communicate with the virtual leader, and the virtual leader communicates with the actual leader. Based on this, a controller is designed using saturation constraints and communication delays to construct an error system between the follower agents and the leader, establishing consistency conditions and controlling the multi-agent system to achieve leader-follower consistency. By constructing a virtual leader between the leader and followers, communication between the actual leader and followers is achieved. Furthermore, considering the limited inherent attributes of the agents, the control protocol is adjusted based on saturation constraint information and communication delays to enable the system to achieve leader-follower consistency, improving the consistency tracking accuracy of the multi-agent system.

[0091] In some embodiments, please refer to Figure 2 , Figure 2 This is a schematic diagram of a multi-agent system control device under saturation constraints and time delay, provided as an embodiment of this application. The multi-agent system control device 200 under saturation constraints and time delay provided in this embodiment includes: a model building module 210, a control design module 220, an error system construction module 230, and a consistency control module 240, wherein...

[0092] Model building module 210 is configured to build a multi-agent system model;

[0093] Consider a heterogeneous multi-agent system consisting of χ followers and 1 leader, whose dynamic equations are as follows:

[0094]

[0095] Where, ρ a (t)∈R p Θ a ρ0(t) represents the state and control input of the i-th follower, respectively, where ρ0(t)∈Ri. q Θ0(t) represents the leader state and control input, and p ≠ q, κ a ∈R p×p and κ0∈R q×qGiven a predefined parameter matrix, at least one follower receives information from the leader, and there exists a matrix ω. a Make ω a κ0=κ a ω a a = {1, 2, ..., χ};

[0096] A virtual leader is established between the leader and follower agents. Followers communicate with the virtual leader, and the virtual leader communicates with the leader. The dynamic equations of the virtual leader are as follows:

[0097]

[0098] Control design module 220, configured to design controller;

[0099] The control protocol is adjusted based on saturation constraints and communication time delays. The control protocol is as follows:

[0100]

[0101] Where, α a β a For parameters of the control protocol, v is the delay time, and s is the delay time. ab , σ a Determined by the topology of HMAS. i} is a set of pulse time series that satisfies 0 < t i <t i+1 and

[0102] Error system construction module 230 is configured to construct an error system between follower agents and leaders;

[0103] The error between followers and virtual leaders is ψ a (t)=ρ a (t)-ω a Ψ a (t), the error between the virtual leader and the actual leader is φ. a (t)=Ψ a (t)-ρ0(t), from which we can obtain:

[0104]

[0105] Among them, ψ(t)=[ψ1(t), ψ2(t), ..., ψ χ (t)] T ,φ(t)=[φ1(t),φ2(t),...,φ χ (t)] T ,κ=diag[κ1,κ2,...,κχ ], K0 = diag [K0, K0,..., K0], ω = diag [ω1, ω2,..., ω χ ], σ = diag [σ1, σ2,..., σ χ ], α = diag [α1, α2,..., β χ ], β = diag [β1, β2,..., β χ ],

[0106] The consistency control module 240 is configured to establish a consistency condition when the following inequality is satisfied:

[0107]

[0108] The multi-agent system is controlled to realize leader-following consensus.

[0109] In some embodiments, the model establishing module 210 is specifically configured to:

[0110] Set at least one virtual leader for each follower, and establish a first connection channel between the follower and the corresponding virtual leader, and a second connection channel between each virtual leader and the leader.

[0111] In some embodiments, the model establishing module 210 is specifically further configured to: utilize knowledge of graph theory to establish information interaction characteristics between the leader and the virtual leader, and between the virtual leader and the follower.

[0112] The multi-agent system control device with saturation constraint and time delay provided by the embodiments of the present application can realize each process in the corresponding embodiments of the multi-agent system control method with saturation constraint and time delay described above, and to avoid repetition, it will not be repeated here.

[0113] It should be noted that the multi-agent system control device with saturation constraint and time delay provided by the embodiments of the present application is based on the same application concept as the multi-agent system control method with saturation constraint and time delay provided by the embodiments of the present application, so the specific implementation of this embodiment can be referred to the implementation of the aforementioned multi-agent system control method with saturation constraint and time delay, and the repeated parts will not be repeated.

[0114] In some embodiments, please refer to Figure 3 , Figure 3 A structural schematic diagram of an electronic device is provided in the embodiments of the present application. The electronic device 300 provided by the embodiments of the present application comprises a processor 310 and a memory 320; the memory 320 stores a computer program, wherein the computer program realizes the multi-agent system control method with saturation constraint and time delay described above when executed by the processor.

[0115] In particular, the processor 310 can include, without limitation, a general purpose microprocessor, an instruction set processor, and / or related chips sets and / or a special-purpose microprocessor (e.g., an application specific integrated circuit (ASIC)), etc. The processor 310 can also include onboard memory for cache purposes. The processor 310 can be a single processing unit or a plurality of processing units, and can be used to execute different actions of the method processes according to embodiments of the present application.

[0116] The memory 320 may, for example, be any media capable of containing, storing, communicating, propagating or transporting instructions. For example, the memory 320 can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared or semiconductor system, apparatus, device or propagation medium. Specific examples of the memory 320 include a magnetic storage device such as a hard disk drive (HDD), an optical storage device such as a compact disc (CD-ROM), a random access memory (RAM) or a flash memory, and / or a wired / wireless communication link.

[0117] The present application also provides a computer readable medium having stored thereon a computer program which, when executed by a processor, implements the above-mentioned multi-agent system control method under saturation constraint and time delay. The computer readable medium can be included in the device / apparatus / system described in the above embodiments; or can exist separately without being assembled into the device / apparatus / system. The above computer readable medium carries one or more programs which, when executed, implement the method according to embodiments of the present application.

[0118] According to the embodiments of the present application, the computer readable medium can be a computer readable signal medium or a computer readable storage medium or any combination thereof. The computer readable storage medium can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any suitable combination thereof. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this application, the computer readable storage medium can be any tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus or device. In this application, the computer readable signal medium can include a computer readable program code transmitted in baseband or as part of a carrier wave in which the computer readable program code is digitally modulated and transmits over a carrier wave. Such a transmitted program code can take any number of forms including, but not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. The computer readable signal medium can also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate or transport a program for use by or in connection with an instruction execution system, apparatus or device. The program code contained on the computer readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber cable, RF, and the like, or any suitable combination thereof.

[0119] Those skilled in the art will appreciate that features recited in the various embodiments and / or claims of this application can be combined and / or interchanged, even if this is not explicitly stated in the application. In particular, the features of the various embodiments and / or claims of this application can be combined and / or interchanged, without departing from the spirit and teachings of this application. All such combinations and / or interchanges are intended to fall within the scope of this application. Accordingly, the scope of the application should not be limited to the above-described embodiments, but should be determined by the appended claims and their equivalents.

Claims

1. A multi-agent system control method under saturation constraint and time delay, characterized in that, The method comprises the following steps: S110, establishing a multi-agent system model; Considering a heterogeneous multi-agent system composed of χ followers and 1 leader, the dynamics equation is as follows: Where, ρ a (t)∈R p Θ a ρ0(t) represents the state and control input of the i-th follower, respectively, where ρ0(t)∈Ri. q Θ0(t) represents the leader state and control input, and p ≠ q, κ a ∈R p×p and κ0∈R q×q Given a predefined parameter matrix, at least one follower receives information from the leader, and there exists a matrix ω. a Make ω a κ0=κ a ω a a = {1, 2, ..., χ}; A virtual leader is established between the leader and the follower agent, the follower communicates with the virtual leader, and the virtual leader communicates with the leader; the dynamics equation of the virtual leader is as follows: S120, designing a controller; The control protocol is adjusted based on saturation constraints and communication time delay, and the control protocol is as follows: wherein α a , β a are parameters of the control protocol, v is the delay time, s ab , σ a are determined from the topology of the HMAS;{t i} is a set of impulse time sequences, satisfying 0 < t i < t i+1 and S130, constructing an error system between the follower agent and the leader; the error between the follower and the virtual leader is ψ a (t) = p a (t) - ω a Ψ a the error between the virtual leader and the actual leader is φ a (t) = ψ a (t) - p0(t), from which it follows that: where ψ(t) = [ψ1(t), ψ2(t),..., ψN(t)]T, φ(t) = [φ1(t), φ2(t),..., φN(t)]T, K = diag [K1, K2,..., KN], K0 = diag [K0, K0,..., K0], ω = diag [ω1, ω2,..., ωN], σ = diag [σ1, σ2,..., σN], α = diag [α1, α2,..., αN], β = diag [β1, β2,..., βN], and χ (t) T (t) χ (t) T (t) χ K1, K2,..., KN], K0 = diag [K0, K0,..., K0], ω = diag [ω1, ω2,..., ωN], σ = diag [σ1, σ2,..., σN], α = diag [α1, α2,..., αN], β = diag [β1, β2,..., βN], and χ χ χ χ ​​​​ S140, establishing a consensus condition, when the following inequality is satisfied: The multi-agent system is controlled to realize leader-follower consensus.

2. The multi-agent system control method under saturation constraint and time delay according to claim 1, characterized in that, The method further comprises the following steps: At least one virtual leader is set for each follower, and a first connection channel is established between the follower and the corresponding virtual leader, and a second connection channel is established between each virtual leader and the leader.

3. The multi-agent system control method under saturation constraint and time delay according to claim 1, characterized in that, The method further comprises the following steps: The information interaction characteristics between the leader and the virtual leader and between the virtual leader and the follower are established by using graph theory knowledge.

4. A multi-agent system control device under saturation constraint and time delay, for implementing the multi-agent system control method under saturation constraint and time delay according to any one of claims 1 to 3, characterized in that, The method comprises the following steps: A model establishing module, a control design module, an error system constructing module, and a consensus control module are included, wherein, The model establishing module is configured to establish a multi-agent system model; Considering a heterogeneous multi-agent system composed of χ followers and 1 leader, the dynamics equation is as follows: wherein p a (t)∈R p , Θ a (t) respectively represent the state and control input of the i-th follower, p0(t)∈R q , Θ0(t) are the leader state and control input, and p≠q, κ a ∈R p×p , K0∈R q×q are preset parameter matrices, at least one follower obtains information from the leader, and there exists a matrix ω a such that ω a κ0=κ a ω a , a={1, 2, …, χ}. A virtual leader is established between the leader and the follower agent, the follower communicates with the virtual leader, and the virtual leader communicates with the leader; the dynamics equation of the virtual leader is as follows: The control design module is configured to design a controller; The control protocol is adjusted based on saturation constraints and communication time delay, and the control protocol is as follows: wherein α a , β a are parameters of the control protocol, v is the delay time, s ab , σ a are determined by the topology of the HMAS;{t i} is a set of impulse time sequences, satisfying 0 < t i < t i+1 and The error system constructing module is configured to construct an error system between the follower agent and the leader; the error between the follower and the virtual leader is ψ a (t) = p a (t) - ω a Ψ a the error between the virtual leader and the actual leader is φ a (t) = ψ a (t) - p0(t), from which it follows that: Where, ψ(t) = [ψ1(t), ψ2(t),..., ψ χ (t)] T ,φ(t)=[φ1(t),φ2(t),…,φ χ (t)] T ,K=diag[κ1,κ2,…,κ χ ], κ0 = diag[κ0, κ0,..., κ0], ω = diag[ω1, ω2,..., ω χ ], σ = diag[σ1,σ2,...,σ χ ], α=diag[α1, α2,..., α χ ], β=diag[β1, β2,..., β χ ], The consensus control module is configured to establish a consensus condition, when the following inequality is satisfied: The multi-agent system is controlled to realize leader-follower consensus.

5. An electronic device comprising a processor and a memory; said memory having stored a computer program, wherein, The computer program, when executed by the processor, realizes the multi-agent system control method under saturation constraints and time delay according to any one of claims 1 to 3.

6. A computer readable storage medium having a computer program stored thereon, the program being executed by a processor to realize the steps of the method according to any one of claims 1 to 3.

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