Method and system for controlling time event triggering bipartite consistency of multi-agent system

Abstract

The invention discloses a control method and system for time event triggering dichotomy consistency of a multi-agent system. The method comprises the following steps: establishing a communication topological graph of the multi-agent system containing negative weight; determining a multi-agent system model and a control target, and designing an event trigger control protocol; defining a measurement error of each agent in the multi-agent system model, and designing an event trigger function and a trigger condition; and according to the event trigger function and the trigger condition, controlling the preset time dichotomy consistency of each agent in the multi-agent system model. According to the method, the intelligent agent system realizes binary consistency within the preset time, and the communication mode is event triggering, so that the communication frequency is effectively reduced, and the communication cost is saved.

Description

Technical Field

[0001] The present invention belongs to the field of multi-agent technology, and in particular, relates to a control method and system for multi-agent system time event triggered binary consistency. Background Art

[0002] Multi-agent systems (MAS) have more and more applications in many fields, such as robotics, networked control, microgrids, etc. In these systems, the consistency problem is the core and foundation of collaborative control. Consistency generally refers to the fact that in a multi-agent system, the speed and state of each agent eventually converge to the same value. With different application scenarios and the continuous deepening of MAS research, many different consistency laws have been extended, such as the bipartite consistency problem. Bipartite consistency means that the agents in the system need to converge to two states with the same modulus but opposite signs, which undoubtedly makes multi-agent consistency have more diversified applications.

[0003] However, in these studies, the convergence speed is a very important factor. Most of the previous studies are mainly finite-time convergence and fixed-time convergence. The time to establish finite-time consistency depends on the initial state of all agents. If the initial states differ greatly, the convergence time is too long and cannot meet the system control requirements. As for fixed-time consistency, although the convergence time of fixed-time consistency does not depend on the initial state of the system, it is more conservative, and the upper bound of the estimated convergence time is a complex function related to the controller parameters, and the tuning is poor in practical applications. The preset time controller proposed in the patent of the present invention can better overcome the above problems, and the patent of the present invention also adds an event trigger mechanism, which can further optimize the utilization of resources and bring more value in practical applications. Summary of the invention

[0004] The present invention provides a control method and system for triggering binary consistency of a multi-agent system by time events, which is used to solve the technical problem of binary consistency of a multi-agent system. In a first aspect, the present invention provides a control method for time event-triggered binary consistency in a multi-agent system, comprising: Establish the communication topology of multi-agent systems with negative weights; Determine the multi-agent system model and control objectives, and design event-triggered control protocols; Define the measurement error of each agent in the multi-agent system model, design the event trigger function and trigger conditions, where the expression of the event trigger function is: , , In the formula, is the event trigger function, is the measurement error, is a constant, To control the gain, is the error between agents, is the number of agents, is the adjacency matrix element, is the state of agent i, is the state of agent j; The expression of the trigger condition is: , In the formula, For the next trigger moment, For time, is the lower bound function; The predetermined time binary consistency of each agent in the multi-agent system model is controlled according to the event trigger function and the trigger condition.

[0005] In a second aspect, the present invention provides a control system for multi-agent system time event triggered binary consistency, comprising: A building module configured to build a communication topology graph of a multi-agent system including negative weights; A determination module configured to determine the multi-agent system model and control objectives and design an event-triggered control protocol; A definition module is configured to define the measurement error of each agent in the multi-agent system model, design an event trigger function and a trigger condition, wherein the expression of the event trigger function is: , , In the formula, is the event trigger function, is the measurement error, is a constant, To control the gain, is the error between agents, is the number of agents, is the adjacency matrix element, is the state of agent i, is the state of agent j; The expression of the trigger condition is: , In the formula, For the next trigger moment, For time, is the lower bound function; The control module is configured to control the predetermined time binary consistency of each agent in the multi-agent system model according to the event trigger function and the trigger condition.

[0006] According to a third aspect, an electronic device is provided, comprising: at least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can perform the steps of the control method of binary consistency triggered by time events of a multi-agent system of any embodiment of the present invention.

[0007] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, wherein when the program instructions are executed by a processor, the processor executes the steps of the control method for binary consistency triggered by time events of a multi-agent system according to any embodiment of the present invention.

[0008] The control method and system for time event-triggered binary consistency of a multi-agent system of the present application combine the event triggering mechanism with the preset time binary consistency control, which can effectively reduce the loss of communication resources in actual multi-agent system applications, and integrate the knowledge of graph theory into multi-agent control, so that the control results can be displayed more intuitively. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0010] Figure 1 A flow chart of a method for controlling binary consistency triggered by time events in a multi-agent system provided by one embodiment of the present invention; Figure 2 A schematic diagram of the communication topology between intelligent agents and the corresponding Laplacian matrix provided by an embodiment of the present invention; Figure 3 A schematic diagram of the position trajectory of multiple agents provided by an embodiment of the present invention; Figure 4 A schematic diagram of input changes of multiple agents provided by an embodiment of the present invention; Figure 5 A schematic diagram of the error variation of each intelligent agent provided by an embodiment of the present invention; Figure 6 A schematic diagram of event triggering timing of multiple agents provided by an embodiment of the present invention; Figure 7 A structural block diagram of a control system for a multi-agent system with time event-triggered binary consistency provided by one embodiment of the present invention; Figure 8 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0011] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0012] See also Figure 1 , which shows a flow chart of a control method for binary consistency triggered by time events in a multi-agent system of the present application.

[0013] like Figure 1 As shown, the control method for triggering binary consistency of multi-agent system time events specifically includes the following steps: Step S101, establishing a communication topology graph of a multi-agent system containing negative weights.

[0014] like Figure 2 As shown, the weighted symbol graph Used to describe The communication topology of the MAS of the agents is: is a node set, For edge sets, is the adjacency matrix; when , indicating that the agent With Agent Communicate with each other, at this time, and Time Agent With Agent A cooperative relationship, When the agent With Agent In a competitive relationship, is the i-node, is the j node; Weighted symbol map The Laplace matrix of ,in, , , is the total number of agents, for the weighted symbolic graph , if there exists a partition between two sets of nodes that satisfies and , then when ,have ;when ,have , then it represents a weighted symbolic graph is structurally balanced, where , For node set 1, For node set 2, is the node set k, A collection of nodes.

[0015] Step S102, determine the multi-agent system model and control objectives, and design an event-triggered control protocol.

[0016] In this step, a nonlinear multi-agent system model with disturbance conditions consisting of N agents is considered, where the dynamic equation of the i-th agent is: , In a nonlinear multi-agent system with perturbations, given a set time constant , so that the nonlinear multi-agent system has an arbitrary initial value when When , the control target is: , In the formula, is the state of agent i at time t, is the state of the neighbor j of agent i at time t, is time t, The preset time.

[0017] It should be noted that the expression of the event-triggered control protocol is: , In the formula, is the input of agent i, To control the gain, , is the preset convergence time, is the symbolic function, Defined as , is the adjacency matrix element, is the number of agents, is the state of neighbor j of agent i, To control the gain, is a constant, is the latest triggering moment, is the gain constant, is the smallest nonzero eigenvalue of the Laplacian matrix.

[0018] Step S103, defining the measurement error of each agent in the multi-agent system model, and designing event trigger functions and trigger conditions.

[0019] In this step, the expression of measurement error is: , In the formula, To control the gain, , is the preset convergence time, is the symbolic function, Defined as , is the adjacency matrix element, is the number of agents, is the state of neighbor j of agent i, To control the gain, is a constant, is the latest triggering moment, is the gain constant, is the smallest nonzero eigenvalue of the Laplacian matrix.

[0020] The expression of the event trigger function is: , , In the formula, is the event trigger function, is the measurement error, is a constant, To control the gain, is the error between agents, is the number of agents, is the adjacency matrix element, is the state of agent i, is the state of agent j; The expression of the trigger condition is: , In the formula, For the next trigger moment, For time, is the lower bound function; Step S104, controlling the predetermined time binary consistency of each agent in the multi-agent system model according to the event trigger function and the trigger condition.

[0021] from Figure 3 The position trajectories of multiple agents show that the six agents are finally divided into two groups and reach consistency before the preset time T.

[0022] from Figure 4 From the input changes of multiple agents, it can be seen that the input of each agent eventually tends to zero, and the input of each agent is not continuous, but has obvious triggering intervals, thus achieving the goal of reducing communication consumption.

[0023] from Figure 5 The error changes of each intelligent agent show that the errors between the agents are constantly decreasing and eventually approaching zero, achieving consistency.

[0024] from Figure 6 It can be seen from the event triggering moment of multiple agents that each agent receives communication data intermittently. The event triggering method can effectively reduce the number of communications, thereby saving control costs.

[0025] In summary, the method of the present application successfully enables the intelligent system to achieve binary consistency within the preset time after adding an event trigger mechanism for binary consistency within the preset time, and the communication method is event triggered, which effectively reduces the number of communications and saves communication costs.

[0026] See also Figure 7 , which shows a structural block diagram of a control system of binary consistency triggered by time events of a multi-agent system of the present application.

[0027] like Figure 7 As shown, a control system 200 of binary consistency triggered by time events of a multi-agent system includes a construction module 210, a determination module 220, a definition module 230 and a control module 240.

[0028] Wherein, the construction module 210 is configured to establish a communication topology graph of a multi-agent system containing negative weights; A determination module 220 configured to determine a multi-agent system model and a control target, and design an event-triggered control protocol; The definition module 230 is configured to define the measurement error of each agent in the multi-agent system model, design an event trigger function and a trigger condition, wherein the expression of the event trigger function is: , , In the formula, is the event trigger function, is the measurement error, is a constant, To control the gain, is the error between agents, is the number of agents, is the adjacency matrix element, is the state of agent i, is the state of agent j; The expression of the trigger condition is: , In the formula, For the next trigger moment, For time, is the lower bound function; The control module 240 is configured to control the predetermined time binary consistency of each agent in the multi-agent system model according to the event trigger function and the trigger condition.

[0029] In some other embodiments, the present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein when the program instructions are executed by a processor, the processor executes a control method for multi-agent system time event-triggered binary consistency in any of the above method embodiments; As an implementation mode, the computer-readable storage medium of the present invention stores computer-executable instructions, and the computer-executable instructions are configured as follows: Establish the communication topology of multi-agent systems with negative weights; Determine the multi-agent system model and control objectives, and design event-triggered control protocols; Define the measurement error of each agent in the multi-agent system model, design the event trigger function and trigger conditions, where the expression of the event trigger function is: , , In the formula, is the event trigger function, is the measurement error, is a constant, To control the gain, is the error between agents, is the number of agents, is the adjacency matrix element, is the state of agent i, is the state of agent j; The expression of the trigger condition is: , In the formula, For the next trigger moment, For time, is the lower bound function; The predetermined time binary consistency of each agent in the multi-agent system model is controlled according to the event trigger function and the trigger condition.

[0030] The computer-readable storage medium may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of a control system that triggers binary consistency according to a multi-agent system time event, etc. In addition, the computer-readable storage medium may include a high-speed random access memory, and may also include a memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the computer-readable storage medium may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the control system that triggers binary consistency according to a multi-agent system time event via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0031] Figure 8 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention, such as Figure 8 As shown, the device includes: a processor 310 and a memory 320. The electronic device may also include: an input device 330 and an output device 340. The processor 310, the memory 320, the input device 330 and the output device 340 may be connected via a bus or other means. Figure 8 In the example, the connection via bus is taken as an example. The memory 320 is the above-mentioned computer-readable storage medium. The processor 310 executes various functional applications and data processing of the server by running the non-volatile software programs, instructions and modules stored in the memory 320, that is, the control method of the multi-agent system time event triggering binary consistency in the above-mentioned method embodiment is realized. The input device 330 can receive input digital or character information, and generate key signal input related to the user setting and function control of the control system of the multi-agent system time event triggering binary consistency. The output device 340 may include display devices such as display screens.

[0032] The electronic device can execute the method provided by the embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in this embodiment, please refer to the method provided by the embodiment of the present invention.

[0033] As an implementation mode, the electronic device is applied to a control system for binary consistency triggered by a time event of a multi-agent system, and is used for a client, and includes: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can: Establish the communication topology of multi-agent systems with negative weights; Determine the multi-agent system model and control objectives, and design event-triggered control protocols; Define the measurement error of each agent in the multi-agent system model, design the event trigger function and trigger conditions, where the expression of the event trigger function is: , , In the formula, is the event trigger function, is the measurement error, is a constant, To control the gain, is the error between agents, is the number of agents, is the adjacency matrix element, is the state of agent i, is the state of agent j; The expression of the trigger condition is: , In the formula, For the next trigger moment, For time, is the lower bound function; The predetermined time binary consistency of each agent in the multi-agent system model is controlled according to the event trigger function and the trigger condition.

[0034] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or some parts of the embodiment.

[0035] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for time event-triggered binary consistency in a multi-agent system, characterized in that: include: Establish the communication topology of multi-agent systems with negative weights; Determine the multi-agent system model and control objectives, and design event-triggered control protocols; Define the measurement error of each agent in the multi-agent system model, design the event trigger function and trigger conditions, where the expression of the event trigger function is: ， ， In the formula, is the event trigger function, is the measurement error, is a constant, To control the gain, is the error between agents, is the number of agents, is the adjacency matrix element, is the state of agent i, is the state of agent j; The expression of the trigger condition is: ， In the formula, For the next trigger moment, For time, is the lower bound function; The predetermined time binary consistency of each agent in the multi-agent system model is controlled according to the event trigger function and the trigger condition.

2. A control method for multi-agent system time event triggered binary consistency according to claim 1, characterized in that: The communication topology diagram of the multi-agent system with negative weights is established as follows: Weighted symbol map Used to describe The communication topology of the MAS of the agents is: is a node set, For edge sets, is the adjacency matrix; when , indicating that the agent With Agent Communicate with each other, at this time, and Time Agent With Agent A cooperative relationship, When the agent With Agent In a competitive relationship, is the i-node, is the j node; Weighted symbol map The Laplace matrix of ,in, , , is the total number of agents, for the weighted symbolic graph , if there exists a partition between two sets of nodes that satisfies and , then when ,have ;when ,have , then it represents a weighted symbolic graph is structurally balanced, where , For node set 1, For node set 2, is the node set k, A collection of nodes.

3. A control method for multi-agent system time event triggered binary consistency according to claim 1, characterized in that: Determining the multi-agent system model and control objectives includes: Consider a nonlinear multi-agent system model with N agents under disturbance conditions, where the dynamic equation of the i-th agent is: ， In a nonlinear multi-agent system with perturbations, given a set time constant , so that the nonlinear multi-agent system is under any initial value condition, when When , the control target is: ， In the formula, is the state of agent i at time t, is the state of the neighbor j of agent i at time t, is time t, The preset time.

4. A control method for multi-agent system time event triggered binary consistency according to claim 1, characterized in that: The expression of the event-triggered control protocol is: ， In the formula, is the input of agent i, To control the gain, , is the preset convergence time, is the symbolic function, Defined as , is the adjacency matrix element, is the number of agents, is the state of neighbor j of agent i, To control the gain, is a constant, is the latest triggering moment, is the gain constant, is the smallest nonzero eigenvalue of the Laplacian matrix.

5. A control method for multi-agent system time event triggered binary consistency according to claim 1, characterized in that: The expression of the measurement error is: ， In the formula, To control the gain, , is the preset convergence time, is the symbolic function, Defined as , is the adjacency matrix element, is the number of agents, is the state of neighbor j of agent i, To control the gain, is a constant, is the latest triggering moment, is the gain constant, is the smallest nonzero eigenvalue of the Laplacian matrix.

6. A control system for multi-agent system time event triggering binary consistency, characterized in that: include: A building module configured to build a communication topology graph of a multi-agent system including negative weights; A determination module configured to determine the multi-agent system model and control objectives and design an event-triggered control protocol; A definition module is configured to define the measurement error of each agent in the multi-agent system model, design an event trigger function and a trigger condition, wherein the expression of the event trigger function is: ， ， In the formula, is the event trigger function, is the measurement error, is a constant, To control the gain, is the error between agents, is the number of agents, is the adjacency matrix element, The expression of the trigger condition for the state of agent i is: ， In the formula, For the next trigger moment, For time, is the lower bound function; The control module is configured to control the predetermined time binary consistency of each agent in the multi-agent system model according to the event trigger function and the trigger condition.

7. An electronic device, characterized in that: include: At least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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