Motorcade consistency formation control method based on dynamic event triggering mechanism

The fleet consistency formation control method based on dynamic event triggering mechanism solves the problems of information interaction and computational load in consistency control in multi-agent systems, realizes efficient formation control, and improves the system's operating efficiency and stability.

CN121477975APending Publication Date: 2026-02-06BEIJING MECHANICAL EQUIP INST
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Patent Information

Application Number
CN202511509275.2
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-10-21
Publication Date
2026-02-06

AI Technical Summary

Technical Problem

Existing multi-agent formation control systems require a large amount of information interaction and high computational load to maintain consistency, making it difficult to effectively improve the system's operating efficiency and stability, especially when resources are limited or communication costs are high.

Method used

A fleet consistency formation control method based on dynamic event triggering mechanism is adopted. The communication topology graph is generated by graph theory, and a combination of measurement function and consistency controller is designed. The triggering time interval is calculated by combining distributed event triggering and self-triggering conditions to reduce unnecessary information interaction and controller updates.

Benefits of technology

This effectively avoids Zeno behavior, reduces the number of controller updates, improves the convergence speed and grouping accuracy of the state observer, and reduces the communication and computational burden of the system.

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Abstract

The invention relates to a motorcade consistency formation control method and device based on a dynamic event triggering mechanism, electronic equipment and a storage medium. The method comprises the steps of generating a communication topological graph of a multi-agent system composed of a preset number of unmanned vehicles according to the theoretical basis of a graph theory, and building a mathematical model of each unmanned vehicle; based on the mathematical model, designing a combined measurement function, a measurement error and a consistency controller of the multi-agent system; distributed event triggering conditions and self-triggering conditions are designed based on Lyapunov parameters; according to a dynamic event triggering condition and a self-triggering condition, a triggering time interval expression of the intelligent agent is obtained through calculation; by constructing a multi-agent system consistency controller and combining distributed event triggering conditions and self-triggering conditions, multi-vehicle formation consistency control is completed. According to the fleet consistency formation control method disclosed by the invention, accurate and efficient control of a fleet formed by multiple unmanned vehicles can be realized.
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