Agricultural robot cluster anti-interference convergence method based on interaction link dynamics

By constructing the edge Laplace matrix and determining the control gain, the control quantity of the interactive link is calculated, which solves the problem of link state fluctuation caused by external interference in complex farmland environments of agricultural robot clusters, and realizes stable convergence and improved robustness of the link.

CN122111085APending Publication Date: 2026-05-29QILU UNIVERSITY OF TECHNOLOGY (SHANDONG ACADEMY OF SCIENCES)
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Patent Information

Application Number
CN202610591070.1
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-04-30
Publication Date
2026-05-29

AI Technical Summary

Technical Problem

In complex farmland environments, the interaction links of agricultural robot swarms are susceptible to external interference, leading to fluctuations in link status and making it difficult to guarantee convergence and robustness.

Method used

By acquiring the state and speed information of the interaction links of agricultural robot clusters, a side Laplace matrix is ​​constructed to determine the control gain. Combined with random disturbance terms, the control quantity of each interaction link is calculated to achieve stable control of the interaction links.

Benefits of technology

It effectively suppresses the impact of external interference on the link state, ensures the convergence of the link state, and improves the robustness and collaborative control capabilities in complex environments.

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Abstract

The invention relates to the technical field of agricultural robot control, and particularly provides an agricultural robot cluster anti-interference convergence method based on interactive link dynamics. The method comprises the following steps: acquiring state information and speed information of each interaction link, and determining an interaction topological structure and a connection weight matrix between the interaction links; constructing an edge Laplacian matrix according to the connection weight matrix of the interactive link, and determining a control gain based on all non-zero feature values of the edge Laplacian matrix; controlling gain according to the state information and the speed information of each interaction link and the state information and the speed information of the neighbor interaction link, and determining the control quantity of each interaction link in combination with a random interference item; the state and the speed of the corresponding interaction link are controlled according to the control quantity of each interaction link, and the method effectively inhibits the influence of external interference on the link state, guarantees the convergence of the link state, and improves the robustness and the cooperative control capability in a complex airspace environment.
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