Consistency control method and system for speed-unmeasurable second-order multi-agent system in two-set value communication environment

Abstract

The invention relates to a consistency control method and system for a speed-unmeasurable second-order multi-agent system in a binary communication environment, and the method comprises the steps: 1, initializing the number of iterations, and constructing a topological structure diagram; setting parameters; 2, establishing a kinetic model of the second-order multi-agent system; 3, establishing a binary value communication model between neighbor nodes of the multi-agent system, and quantifying position information transmitted by the agents into binary information; 4, designing a consistency protocol, performing state estimation through a recursive projection algorithm according to the binary information of the positions of the neighbors and the state information of the neighbors, and replacing a true value with an estimated value to design a consistency control protocol so as to realize the static consistency target of the second-order multi-agent system; and 5, carrying out iterative updating, and repeatedly executing the step 4 to realize the consistency of the second-order multi-agent system. The static consistency of the multi-agent system is realized, the dependence of the system on the data precision is reduced, and the consumption of communication resources is greatly reduced.

Description

Technical Field

[0001] The present invention relates to a consistency control method and system for a second-order multi-agent system with unmeasurable speed in a two-set-valued communication environment, and belongs to the technical field of distributed collaborative control of multi-agent systems. Background Art

[0002] A multi-agent system (MAS) consists of multiple agents that work together to complete complex tasks through mutual coordination between agents. A single agent is an individual with certain sensing, computing, storage and communication capabilities. Consensus control means that in a distributed multi-agent system, agent nodes with different initial state values ​​only exchange information with their neighboring nodes to make the state values ​​of all agents reach a consensus. Distributed consensus control and cooperation problems of multi-agent systems can be used to solve complex cluster control problems, and have broad application prospects in the fields of drone formations, mobile robots, satellite networks and sensor networks.

[0003] In multi-agent systems, the study of consistency problems initially focused on first-order dynamic systems. However, due to the simple structure of the first-order dynamic system itself and the consideration of only one state, position, it cannot describe most systems in actual engineering and nature, such as the aggregation and swarming of organisms and the formation control of drones. In a multi-agent system described by a second-order dynamic system, each agent needs to consider both the position and velocity of the agent at the same time, which can better describe the physical system in actual engineering compared to the first-order system. At present, the consistency problem of the second-order multi-agent system has been widely used in fields such as satellite formation flying and smart grids.

[0004] At present, there are two basic challenges in the consistency control of second-order multi-agent systems: on the one hand, in practical applications, due to sensor damage or insufficient accuracy, or in complex terrain, the agent cannot measure speed information, and it is necessary to consider how to design a consistency control protocol when the speed information of neighboring agents is unknown. On the other hand, in the case of limited communication resources, two-set communication can reduce the amount of transmitted data by simplifying information, improving the robustness and security of the system, and it is necessary to consider how to design a consistency control protocol for the agent system in a two-set communication environment. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention proposes a distributed consistency control method based on a recursive projection identification algorithm to solve the consistency control problem of a second-order multi-agent system with two-set communication and neighbor speed information loss. The protocol only requires the location information of the neighbors and the state information of the agent itself, so that the multi-agent state can eventually achieve static consistency.

[0006] The present invention estimates the position of neighbor agents online based on the two-set-valued position information of neighbor agents and a recursive projection algorithm, and uses the estimated position information of neighbor agents to update their own states, thereby solving the consistency control problem of second-order multi-agents when the speed information of neighbor agents is unknown in a two-set-valued communication environment.

[0007] The present invention also provides a second-order multi-agent consistency control system based on two-set-valued communication and unknown neighbor speeds.

[0008] The technical solution of the present invention is:

[0009] A consensus control method for a second-order multi-agent system with unpredictable speed in a two-set communication environment, including:

[0010] Step 1: Initialize the number of iterations, build a topological diagram of the communication between multi-agents in the second-order multi-agent system, and set parameters;

[0011] Step 2: Establish a dynamic model of the second-order multi-agent system;

[0012] Step 3: Establish a binary value communication model between neighboring nodes in the multi-agent system, and quantize the location information transmitted by the agent into binary information;

[0013] Step 4: Design a consistency protocol. According to the binary information of the neighbor's position and its own state information, the state is estimated through a recursive projection algorithm. The estimated value is used instead of the real value to design a consistency control protocol to achieve the goal of static consistency of the second-order multi-agent system.

[0014] Step 5: Iterate and update, repeat step 4 to achieve the consistency of the second-order multi-agent system.

[0015] Preferably, according to the present invention, a topological structure diagram for mutual communication between multi-agents of a second-order multi-agent system is constructed; comprising:

[0016] Establish a topological structure graph consisting of N intelligent agents; the topological structure graph is represented as in, is a node set; ε is an edge set, (j,i) represents an ordered pair of edges, if (j,i)∈ε, it means that node i receives information from node j; is the adjacency matrix, When (j,i)∈ε, a ij =1, otherwise a ij =0; the neighbor set of node i is defined as Laplacian Matrix Used to describe the relationship between nodes and edges; Laplace matrix satisfy

[0017] Assume that the initial state and initial estimate of the position and velocity of the ith agent are x i (1)

[0018] The initial state satisfies: |x i (1)|≤M, M>0, is a constant value; the position threshold is C / ; j refers to agent i, that is, the neighbor agent of node i.

[0019] Preferably, according to the present invention, a dynamic model of a second-order multi-agent system is established; comprising:

[0020] Considering each agent as a node, each node in the topological structure diagram of the communication between multi-agents in the second-order multi-agent system follows the following dynamic equation:

[0021] x i (t+1)=x i (t)+v i (t)

[0022] v i (t+1)=v i (t)+u i (t)

[0023] in: x i (t), v i (t),u i (k) represents the position, velocity, and control protocol of the i-th node at iteration t, respectively, and x i (t+1), v i (t+1) represent the position and velocity of the i-th node at the t+1th iteration respectively; the dynamic equation is the established dynamic model of the i-th node.

[0024] According to the preferred embodiment of the present invention, a two-set value communication model is established between neighbor nodes of a multi-agent system: system node i can only receive two-set value information of its neighbor node j, Its set-valued communication model is as follows:

[0025]

[0026] y / ij (t) = x i (t)+d / ij (t)

[0027] in, It means that node i receives the two-set value information of neighbor node j at time t, I {.} is the characteristic function, which is defined as represents the noisy position state sent by node j to node i at time t, C / is the threshold of location information under two-set communication, It represents independent and identically distributed communication noise that obeys a normal distribution with a mean of 0 and a variance of δ. Its distribution function and probability density function are F(x) and f(x)=dF(x) / dx≠0 respectively.

[0028] Preferably, according to the present invention, a consistency protocol is designed, including:

[0029] Initialize the system: Let the initial position state, initial velocity state and initial position estimate of the neighboring node be x i (0), v i (0) The initial position state satisfies |x i (0)|≤M, M is a constant greater than zero;

[0030] State estimation: Node i receives binary information about the position of neighboring agent j. Use the recursive projection algorithm to calculate the position x of neighbor node j j (t) Estimate and obtain the estimated value

[0031]

[0032] Among them, E (·) is a projection operator, defined as M>0, is a given constant, is the estimated value of the location information of node i to node j at time t-1, the estimation step length β>0, F is the distribution function of communication noise, C / is the threshold of location information under set-valued communication, is the position two-set value information of node j received by node i at time t;

[0033] Control update: Based on the estimated position state Node i performs consistency control through the following control protocol:

[0034]

[0035] Where i = 1, 2, ..., N, and the step length a(t) is a positive decreasing sequence that satisfies Control parameter k O ,k U The following conditions are met: the matrix There is one eigenvalue 1 with multiplicity 1, and all other eigenvalues ​​are inside the unit circle;

[0036] Iterative updates.

[0037] The state estimation and control update are performed repeatedly until the consensus of the second-order multi-agent system is achieved.

[0038] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of a consistency control method for a second-order multi-agent system with unmeasurable speed in a two-set-valued communication environment are implemented.

[0039] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of a consistency control method for a second-order multi-agent system with unmeasurable speed in a two-set-valued communication environment.

[0040] The consensus control system of the second-order multi-agent system with unpredictable speed in a two-set communication environment includes:

[0041] The initialization and topology diagram construction module is configured to: initialize the number of iterations t to 0, construct the topology diagram of the communication between the multi-agent system of the second-order multi-agent system; set parameters;

[0042] The dynamics model building module of the second-order multi-agent system is configured to: build a dynamics model of the second-order multi-agent system;

[0043] The communication model building module of the second-order multi-agent system is configured to: establish a two-set-valued communication model between neighboring nodes of the multi-agent system, and quantize the position information transmitted by the agent into binary information;

[0044] The static consistency realization module of the second-order multi-agent system is configured to: design a consistency protocol, perform state estimation based on the binary information of the neighbor's position and its own state information through a recursive projection algorithm, and replace the estimated value with the real value to design a consistency control protocol to achieve the goal of static consistency of the second-order multi-agent system;

[0045] The iterative update module is configured to: repeatedly execute the static consistency implementation steps of the second-order multi-agent system, and finally achieve the consistency of the second-order multi-agent system.

[0046] The present invention has the following beneficial effects:

[0047] 1. The present invention studies the consistency problem when the neighbor speed information is unknown for two-set valued communication and second-order multi-agent system. The present invention uses online data to apply the recursive projection identification algorithm to the second-order multi-agent system, and realizes the static consistency of the multi-agent system. This method reduces the system's dependence on data accuracy and greatly saves the consumption of communication resources.

[0048] 2. Compared with general control protocols in precise communication environments, the present invention introduces a control step size. This feature widens the selection range of control parameters, making it easier to find appropriate parameters to achieve the desired control effect.

[0049] 3. In practical applications, when the neighbor’s speed sensor is damaged or the information is lost, the agent cannot obtain the neighbor’s speed information. The present invention considers how to design a consistency protocol in this case, which is realistic and useful. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a schematic diagram of the process of the consistency control method of the second-order multi-agent system with unmeasurable speed in a two-set-valued communication environment of the present invention;

[0051] Figure 2 is a schematic diagram of an undirected topological structure of a second-order multi-agent system established in the embodiment;

[0052] Figure 3 It is a schematic diagram of the trajectory changes of the position state measurement values ​​of each node in the undirected topological structure diagram of the second-order multi-agent system;

[0053] Figure 4 It is a schematic diagram of the trajectory changes of the velocity state measurement values ​​of each node in the undirected topological structure diagram of the second-order multi-agent system;

[0054] Figure 5 It is a schematic diagram of the trajectory change of the position state error value of each node in the undirected topological structure diagram of the second-order multi-agent system;

[0055] Figure 6 It is a schematic diagram of the trajectory change of the velocity state error value of each node in the undirected topological structure diagram of the second-order multi-agent system; DETAILED DESCRIPTION

[0056] The present invention will be further defined below in conjunction with the accompanying drawings and embodiments, but is not limited thereto.

[0057] Example 1

[0058] A consensus control method for a second-order multi-agent system with unpredictable speed in a two-set communication environment, including:

[0059] Step 1: Initialize the number of iterations, build a topological diagram of the communication between multi-agents in the second-order multi-agent system, and set parameters;

[0060] Step 2: Establish a dynamic model of the second-order multi-agent system;

[0061] Step 3: Establish a binary value communication model between neighboring nodes in the multi-agent system, and quantize the location information transmitted by the agent into binary information;

[0062] Step 4: Design a consistency protocol. According to the binary information of the neighbor's position and its own state information, the state is estimated through a recursive projection algorithm. The estimated value is used instead of the real value to design a consistency control protocol to achieve the goal of static consistency of the second-order multi-agent system.

[0063] Step 5: Iterate and update, repeat step 4 to achieve the consistency of the second-order multi-agent system.

[0064] Example 2

[0065] The consistency control method of the second-order multi-agent system with unmeasurable speed in a two-set-valued communication environment described in Example 1 is different in that:

[0066] Construct a topological diagram of the communication between multiple agents in a second-order multi-agent system; including:

[0067] Establish a topological structure graph consisting of N intelligent agents; the topological structure graph is represented as in, is a node set; ε is an edge set, (j,i) represents an ordered pair of edges, if (j,i)∈ε, it means that node i receives information from node j; is the adjacency matrix, When (j,i)∈ε, a ij =1, otherwise a ij =0; the neighbor set of node i is defined as Laplacian Matrix Used to describe the relationship between nodes and edges; Laplace matrix satisfy

[0068] Assume that the initial state and initial estimate of the position and velocity of the ith agent are x i (1)

[0069] The initial state satisfies: |x i (1)|≤M, M>0, is a constant value; the position threshold is C / ; j refers to agent i, that is, the neighbor agent of node i.

[0070] Establish a dynamic model of a second-order multi-agent system; including:

[0071] Considering each agent as a node, each node in the topological structure diagram of the communication between multi-agents in the second-order multi-agent system follows the following dynamic equation:

[0072] x i (t+1)=x i (t)+v i(t)

[0073] v i (t+1)=v i (t)+u i (t)

[0074] in: x i (t), v i (t),u i (k) represents the position, velocity, and control protocol of the i-th node at iteration t, respectively, and x i (t+1), v i (t+1) represent the position and velocity of the i-th node at the t+1th iteration respectively; the dynamic equation is the established dynamic model of the i-th node.

[0075] Establish a two-set-valued communication model between neighboring nodes in a multi-agent system: system node i can only receive two-set-valued information from its neighbor node j. Its set-valued communication model is as follows:

[0076]

[0077] y / ij (t) = x i (t)+d / ij (t)

[0078] in, It means that node i receives the two-set value information of neighbor node j at time t, I {.} is the characteristic function, which is defined as represents the noisy position state sent by node j to node i at time t, C / is the threshold of location information under two-set communication, It represents independent and identically distributed communication noise that obeys a normal distribution with a mean of 0 and a variance of δ. Its distribution function and probability density function are F(x) and f(x)=dF(x) / dx≠0 respectively.

[0079] Design a consistency protocol, including:

[0080] Initialize the system: Let the initial position state, initial velocity state and initial position estimate of the neighboring node be x i (0), v i (0) The initial position state satisfies |x i (0)|≤M, M is a constant greater than zero;

[0081] State estimation: Node i receives binary information about the position of neighboring agent j. Use the recursive projection algorithm to calculate the position x of neighbor node j j (t) Estimate and obtain the estimated value

[0082]

[0083] Among them, E (·) is a projection operator, defined as M>0, is a given constant, is the estimated value of the location information of node i to node j at time t-1, the estimation step length β>0, F is the distribution function of communication noise, C / is the threshold of location information under set-valued communication, is the position two-set value information of node j received by node i at time t;

[0084] Control update: Based on the estimated position state Node i performs consistency control through the following control protocol:

[0085]

[0086] Where i = 1, 2, ..., N, and the step length a(t) is a positive decreasing sequence that satisfies Control parameter k O ,k U The following conditions are met: the matrix There is one eigenvalue 1 with multiplicity 1, and all other eigenvalues ​​are inside the unit circle;

[0087] Iterative updates.

[0088] The state estimation and control update are performed repeatedly until the consensus of the second-order multi-agent system is achieved.

[0089] Example 3

[0090] The consistency control method of the second-order multi-agent system with unmeasurable speed in a two-set-valued communication environment described in Example 2 is different in that:

[0091] In order to verify the effectiveness of the control method designed by the present invention, the following examples are used for verification.

[0092] Consider a multi-agent system consisting of four nodes, the communication topology is shown in Figure 2 , {1,2,3,4} represents 4 agents, and the adjacency matrix and Laplacian matrix are constructed according to the communication relationship between the two agents. If there is communication between the two agents, there is an edge between the corresponding two nodes. If the communication relationship is bidirectional, the topological graph of the interaction relationship of the second-order multi-agent system is an undirected graph. Define the adjacency matrix of the topological structure graph If there is a communication relationship between agent i and agent j, then a ij =1, otherwise a ij = 0. At the same time, the Laplace matrix of the topological graph is defined as If i = j, then l ij =-a ij ,on the contrary where a ij Represents the adjacency matrix The element in row i and column j, l ij represents the Laplacian matrix The element in the i-th row and j-th column. The adjacency matrix of the topological graph can be obtained and the Laplacian matrix They are as follows:

[0093]

[0094] The second-order dynamics model of each intelligent agent node is established. The dynamics model of the i-th node (i=1, 2, 3, 4) is:

[0095] x i (t+1)=x i (t)+v i (t)

[0096] v i (t+1)=v i (t)+u i (t)

[0097] Among them, x i (t), v i (t) and u i (t) represent the position, speed and control protocol of node i at time t. The initial position state value x of each node i (0) = [-2, -1, 0, 3], initial velocity state value v i (0) = [1, 1, -2, 0].

[0098] A two-set-valued communication model between neighboring nodes in a multi-agent system is established. Node i can only receive two-set-valued information from its neighbor node j. Its set-valued communication model is as follows:

[0099]

[0100]

[0101] in, It means that node i receives the two-set value information of neighbor node j at time t, I {.} is the characteristic function, which is defined as represents the noisy position state sent by node j to node i at time t, C / is the threshold of location information under set-valued communication, It represents independent and identically distributed communication noise that follows a normal distribution with a mean of 0 and a variance of δ.

[0102] Design a consistency control protocol. The specific steps are as follows:

[0103] 1. Initialize system parameters.

[0104] Set the initial position state value of each node to x i (0) = [-2, -1, 0, 3], position threshold M = 15, initial velocity state value v i (0) = [1, 1, -2, 0]. When t = 0, the initial estimate of the position of neighbor node j is:

[0105]

[0106] 2. Control protocol parameter selection.

[0107] Take the estimation step size β = 500, satisfy β>0, and take the control parameter k O =0.2, k U =1, then the matrix The eigenvalues ​​of are (0.500+0.742i,0.500-0.742i,1.00+0.00i,0,0.500+0.742i,0.500-0.742i,0.500+0.742i,0.500-0.742i), satisfying the matrix There is an eigenvalue 1 with a multiplicity of 1, and the other eigenvalues ​​are all within the unit circle, so the control step size is satisfy

[0108] 3. State estimation.

[0109] For the binary information of the received neighbor agent position Node i uses the recursive projection algorithm to calculate the position x of its neighbor node j. j (t) Estimate and obtain the estimated value

[0110] 4. Control updates.

[0111] According to the estimated value of the position state Node i performs consistency control through the following control protocol:

[0112]

[0113] Repeat the above two steps to iteratively update the state of node i.

[0114] To illustrate the effectiveness of the consistency protocol designed in the present invention, the position state error and the velocity state error are calculated simultaneously in this example, which are defined as follows:

[0115]

[0116] Where π is the Laplace matrix The left eigenvector of the zero eigenroot, in this case π = [0.25, 0.25, 0.25, 0.25].

[0117] To ensure rigor, the present invention uses the MATLAB simulation experiment platform to simulate 1000 experiments and obtain the expected algorithm simulation results. Figure 3 This is a schematic diagram of the trajectory changes of the position state measurement values ​​of each node in the second-order multi-agent system. It can be seen that after 200 iterations, the position state of the agents is consistent. Figure 4 This is a schematic diagram of the trajectory changes of the speed state measurement values ​​of each node in the second-order multi-agent system. It can be seen that after 100 iterations, the speed state of the agent converges to 0. Figure 5 It is a schematic diagram of the trajectory change of the position state error value of each node in the second-order multi-agent system. Figure 6 This is a schematic diagram of the trajectory change of the velocity state error value of each node in the second-order multi-agent system. It can be seen that as the number of times increases, the state error of the agent gradually approaches 0.

[0118] Therefore, based on the above analysis, it can be seen that under the proposed consistency control protocol based on recursive projection identification algorithm, the second-order multi-agent system can achieve consistency when the speed is unknown under two-set communication.

[0119] Example 4

[0120] A computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of a consistency control method for a second-order multi-agent system with unmeasurable speed in a two-set-valued communication environment described in any one of Examples 1-3 are implemented.

[0121] Example 5

[0122] The consensus control system of the second-order multi-agent system with unpredictable speed in a two-set communication environment includes:

[0123] The initialization and topology diagram construction module is configured to: initialize the number of iterations t to 0, construct the topology diagram of the communication between the multi-agent system of the second-order multi-agent system; set parameters;

[0124] The dynamics model building module of the second-order multi-agent system is configured to: build a dynamics model of the second-order multi-agent system;

[0125] The communication model building module of the second-order multi-agent system is configured to: establish a two-set-valued communication model between neighboring nodes of the multi-agent system, and quantize the position information transmitted by the agent into binary information;

[0126] The static consistency realization module of the second-order multi-agent system is configured to: design a consistency protocol, perform state estimation based on the binary information of the neighbor's position and its own state information through a recursive projection algorithm, and replace the estimated value with the real value to design a consistency control protocol to achieve the goal of static consistency of the second-order multi-agent system;

[0127] The iterative update module is configured to: repeatedly execute the static consistency implementation steps of the second-order multi-agent system, and finally achieve the consistency of the second-order multi-agent system.

[0128] Any description not involved in the specific implementation of the present invention belongs to the known technology in the field and can be implemented with reference to the known technology. The above specific implementation is a specific support for the technical idea of ​​the consistency control method of the second-order multi-agent system based on two-set communication and unknown neighbor speed proposed by the present invention, and cannot be used to limit the protection scope of the present invention. Any equivalent changes or equivalent modifications made on the basis of the technical solution of the present invention in accordance with the technical idea proposed by the present invention still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A method for consistency control of a second-order multi-agent system with unpredictable speed in a two-set communication environment, characterized in that: include: Step 1: Initialize the number of iterations and construct a topological structure diagram for the communication between multi-agents in the second-order multi-agent system; Set parameters; Step 2: Establish a dynamic model of the second-order multi-agent system; Step 3: Establish a binary value communication model between neighboring nodes in the multi-agent system, and quantize the location information transmitted by the agent into binary information; Step 4: Design a consistency protocol. According to the binary information of the neighbor's position and its own state information, the state is estimated through a recursive projection algorithm. The estimated value is used instead of the real value to design a consistency control protocol to achieve the goal of static consistency of the second-order multi-agent system. Step 5: Iterate and update, repeat step 4 to achieve the consistency of the second-order multi-agent system.

2. The consistency control method of a second-order multi-agent system with unmeasurable speed in a two-set-valued communication environment according to claim 1, characterized in that: Construct a topological diagram of the communication between multiple agents in a second-order multi-agent system; include: Establish a topological structure graph consisting of N intelligent agents; the topological structure graph is represented as in, is a node set; ε is an edge set, (j,i) represents an ordered pair of edges, if (j,i)∈ε, it means that node i receives information from node j; is the adjacency matrix, When (j,i)∈ε, a ij =1, otherwise a ij =0; the neighbor set of node i is defined as Laplacian Matrix Used to describe the relationship between nodes and edges; Laplace matrix satisfy Assume that the initial state and initial estimate of the position and velocity of the ith agent are x i (1) i=1,2,3...N; The initial state satisfies: |x i (1)|≤M, M>0, is a constant value; the position threshold is C / ; j refers to agent i, that is, the neighbor agent of node i.

3. The consistency control method of a second-order multi-agent system with unmeasurable speed in a two-set-valued communication environment according to claim 1, characterized in that: Establish a dynamic model of a second-order multi-agent system; including: Considering each agent as a node, each node in the topological structure diagram of the communication between multi-agents in the second-order multi-agent system follows the following dynamic equation: x i (t+1)=x i (t)+v i (t) v i (t+1)=v i (t)+u i (t) in: i=1,2,...,N,x i (t), v i (t),u i (k) represents the position, velocity, and control protocol of the i-th node at iteration t, respectively, and x i (t+1), v i (t+1) represent the position and velocity of the i-th node at the t+1th iteration respectively; the dynamic equation is the established dynamic model of the i-th node.

4. The consistency control method of a second-order multi-agent system with unmeasurable speed in a two-set-valued communication environment according to claim 1, characterized in that: Establish a two-set-valued communication model between neighboring nodes in a multi-agent system: y / ij (t)=x i (t)+d / ij (t) in, It means that node i receives the two-set value information of neighbor node j at time t, I {.} is the characteristic function, which is defined as represents the noisy position state sent by node j to node i at time t, C / is the threshold of location information under two-set communication, It represents independent and identically distributed communication noise that obeys a normal distribution with a mean of 0 and a variance of δ. Its distribution function and probability density function are F(x) and f(x)=dF(x) / dx≠0 respectively.

5. The consistency control method of a second-order multi-agent system with unmeasurable speed in a two-set-valued communication environment according to any one of claims 1 to 4, characterized in that: Design a consistency protocol, including: Initialize the system: Let the initial position state, initial velocity state and initial position estimate of the neighboring node be x i (0), v i (0) The initial position state satisfies |x i (0)|≤M, M is a constant greater than zero; State estimation: Node i receives binary information about the position of neighboring agent j. Use the recursive projection algorithm to calculate the position x of neighbor node j j (t) Estimate and obtain the estimated value Among them, E (·) is a projection operator, defined as M>0, is a constant, is the estimated value of the location information of node i to node j at time t-1, the estimation step length β>0, F is the distribution function of communication noise, C / is the threshold of location information under set-valued communication, is the position two-set value information of node j received by node i at time t; Control update: Based on the estimated position state Node i performs consistency control through the following control protocol: Where i = 1, 2, ..., N, and the step length a(t) is a positive decreasing sequence that satisfies Control parameter k O ,k U The following conditions are met: the matrix There is one eigenvalue 1 with multiplicity 1, and all other eigenvalues ​​are inside the unit circle; Iterative updates; The state estimation and control update are performed repeatedly until the consensus of the second-order multi-agent system is achieved.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the consistency control method of a second-order multi-agent system with unmeasurable speed in a two-set-valued communication environment described in any one of claims 1-5 are implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the consistency control method of a second-order multi-agent system with unmeasurable speed in a two-set-valued communication environment described in any one of claims 1-5 are implemented.

8. A consistency control system for a second-order multi-agent system with unpredictable speed in a two-set communication environment, characterized in that: include: The initialization and topology diagram construction module is configured to: initialize the number of iterations t to 0, construct the topology diagram of the communication between the multi-agent system of the second-order multi-agent system; set parameters; The dynamics model building module of the second-order multi-agent system is configured to: build a dynamics model of the second-order multi-agent system; The communication model building module of the second-order multi-agent system is configured to: establish a two-set-valued communication model between neighboring nodes of the multi-agent system, and quantize the position information transmitted by the agent into binary information; The static consistency realization module of the second-order multi-agent system is configured to: design a consistency protocol, perform state estimation based on the binary information of the neighbor's position and its own state information through a recursive projection algorithm, and replace the estimated value with the real value to design a consistency control protocol to achieve the goal of static consistency of the second-order multi-agent system; The iterative update module is configured to: repeatedly execute the static consistency implementation steps of the second-order multi-agent system, and finally achieve the consistency of the second-order multi-agent system.

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