202 results about "Consistency control" patented technology

The invention relates to the technical field of automatic generation, in particular to a knowledge graph driven teaching material automatic generation method and system. The method comprises the following steps: receiving teaching target input, analyzing the teaching target input into a multi-layer structure based on a preset teaching intention meta-model, and mapping the multi-layer structure to a knowledge graph node; generating an optimal teaching path through a rule engine in combination with the node topology position and the teaching intention level; after the topological fingerprint of the target textbook system is recognized, compatibility analysis is executed, and if a structural gap exists, a transition module is automatically inserted to reconstruct a path; calling the bound multi-modal content unit according to the reconstruction path node, and completing modal coordination according to a cross-modal dependency graph; and finally, performing structured rendering on the integrated content, and outputting a textbook body adaptive to the terminal. The method has the advantages of teaching intention deep understanding, multi-modal content consistency control and cross-textbook system adaptation, and the intelligence level and generalization ability of textbook generation are improved.

The invention provides an unmanned aerial vehicle consistency control method based on a Stackelberg-Nash game, and relates to the technical field of multi-agent consistency and game optimization control. The method comprises the following steps: establishing a motion attitude nonlinear dynamic model of each unmanned aerial vehicle in a multi-unmanned aerial vehicle system, and defining a communication network topological relation; constructing a consistency error and a performance index function; the method comprises the following steps: establishing a layered Stackelberg-Nash game mechanism with a plurality of participants; utilizing a Bellman optimality principle to construct a coupling HJB equation to solve an optimization control strategy of the leader and the follower; and constructing a single evaluation network to estimate the optimization control strategy of the leader and the follower in each execution so as to realize an optimization control target. A favorable tool is provided for analyzing a series of control problems of master-slave consistency of multiple unmanned aerial vehicles in the control field, and the reliability of a control system can be enhanced to a certain extent.

The invention discloses a nonlinear multi-agent system sampling consistency control method and system and a medium, and the method comprises the following steps: S101, obtaining system model parameters, including a nonlinear function # imgabs0 #, a pulse gain # imgabs1 #, a sampling period # imgabs2 #, a communication topological graph # imgabs3 # and a leader-follower kinetic equation; s102, verifying an assumed condition; s103, constructing a Lyapunov function # imgabs4 #, and analyzing the stability of an error system in combination with pulse disturbance; s104, deriving a consistency condition through a Lyapunov method and a pulse theory, calculating key parameters, and determining a pulse gain and a sampling period constraint; s105, selecting parameters meeting conditions; s106, constructing a sampling controller containing pulse disturbance; and S107, implementing the controller and performing numerical simulation. According to the invention, the anti-pulse disturbance capability is strong: through the design of the pulse gain # imgabs5 #, the instantaneous interference of an input channel is effectively counteracted, and the robustness of the system is improved; a sampling data control strategy is adopted, a control signal is updated only at a discrete sampling moment, and the communication burden is reduced.

The invention discloses a security boundary consistency control method for a multi-agent spatio-temporal dynamic system. The method specifically comprises the following technical steps: firstly, constructing a leader-follower spatio-temporal dynamic mathematical model of the multi-agent system based on a partial differential equation; then establishing an abnormal working condition mathematical model containing an actuator fault and a network spoofing attack; deducing to obtain an error dynamic system equation by defining a system consistency control target; constructing an energy function by using a Lyapunov stability theory, and deducing to obtain a system stability criterion; finally, a security boundary consistency control method is designed, and multi-agent space-time dynamic consistency control is achieved. The method effectively solves the problem of high cost caused by arrangement of actuators in a whole spatial domain in a traditional scheme and the problem that a multi-agent system is easily interfered by network attacks in a communication process, and has remarkable application value in engineering practice.

The invention relates to the technical field of underwater robot cooperative control, and provides an elastic consistency control method and system of a multi-underwater robot system. The elastic consistency control method for the multi-AUV system comprises the following steps: discretizing and linearizing the multi-AUV system, introducing a performance index to describe the influence of communication topology on the dynamic behavior of the system, and calculating the elastic consistency of the multi-AUV system on the basis of a centralized optimal control method of a local decoupling system and a robust stability theory. And designing an elastic consistency controller and obtaining controller gain by solving a local algebraic Riccati equation so as to realize consistency control of multiple AUV system states. According to a sparse mode matrix spectrum of a distributed controller, a system stability condition is given, and efficient cooperation and stable operation of a multi-AUV system in a complex underwater environment are ensured. According to the method, the calculation and communication complexity is remarkably reduced, the method is suitable for a multi-AUV cooperative working environment, and a new technical solution is provided for cooperative control of the underwater unmanned system.

The invention discloses a distributed consistency control method suitable for a multi-unmanned trolley system, and designs a control strategy based on a preset time disturbance observer for the problem that communication topology dynamic change and external disturbance interference are difficult to consider at the same time. In system modeling, each trolley is modeled as a second-order nonlinear system, and external disturbance is generated by a heterogeneous external source system. In the design of the controller, a disturbance observer with a preset time convergence characteristic is introduced, and strict convergence of disturbance estimation errors can be realized in finite time. Control input is fused with three parts of neighbor state difference feedback, leader tracking and disturbance compensation, and it is ensured that the system can still achieve a consistent target in a complex dynamic environment. By constructing a combined Lyapunov function and combining a Markov jump system theory, it is proved that a system state error and a disturbance estimation error converge to zero after a preset time. A simulation result verifies the effectiveness and stability of the method under communication switching and non-ideal disturbance interference.

The invention discloses a heterogeneous multi-agent dynamic event trigger output consistency control method and device under FDI attack and a storage medium wherein the heterogeneous multi-agent dynamic event trigger output consistency control method under FDI attack comprises the following steps: a heterogeneous multi-agent system receives FDI attack data; the FDI attack data triggers a trigger response of a dynamic event trigger mechanism introduced in a tracking state observer; self-adaptively compensating the influence of the FDI attack data on the heterogeneous multi-agent system through a self-adaptive state observer; fDI is false information injection. The invention discloses a heterogeneous multi-agent dynamic event trigger output consistency control method and device under FDI attack and a storage medium. The problem of output consistency of a heterogeneous multi-agent system under FDI attacks is solved, and a dynamic event triggering mechanism is introduced to save communication resources.

The embodiment of the invention provides a dynamic event trigger consistency control method and system for a multi-agent system, and the method comprises the steps: setting a dual-threshold line based on a Lyapunov function, dividing a system state function into an activation time period, a holding time period and an idle time period, and dynamically switching the working mode of the controller, namely inputting a non-zero control quantity in an activation period to quickly converge a state, performing input zero setting in an idle period to save resources, maintaining control input at the previous moment in a keeping period to avoid frequent switching, and forcibly performing zero setting control input in a DoS attack period. Secondly, monitoring a measurement error (a deviation between a current state of the intelligent agent and a historical trigger state), a consistency error (a state deviation between the intelligent agent and a leader) and an auxiliary variable in real time, and if the weighted contribution of the measurement error in an activation time period exceeds the sum of the weighted contribution of the consistency error and the auxiliary variable, triggering a communication update state and reducing redundant communication;

The invention provides a multi-cavity mold PET bottle preform production consistency optimization control method, which comprises the following steps of: arranging high-response infrared thermal imaging and piezoelectric pressure sensors to realize high-precision real-time synchronous acquisition of temperature and pressure data of each cavity, and establishing a cavity exclusive thermal history fingerprint model by using time sequence feature extraction and a deep neural network; combining the thermal historical fingerprints and the real-time filling data, dynamically calculating the thermal interference intensity between the cavities, and generating a multivariable coupling relation matrix; decomposing an overall consistency target by using principal component analysis and a multi-target optimization algorithm, generating a personalized compensation instruction adapted to thermal inertia and sensitivity of each cavity, and realizing multivariable decoupling cooperative control through adaptive PID parameter adjustment and virtual decoupling variables; wall thickness detection quality feedback is introduced, a model closed-loop calibration mechanism is constructed, adaptive iterative optimization of a control strategy and forming quality is guaranteed, and the consistency of multi-cavity injection molding products and the robustness of the system are remarkably improved.

The invention discloses a two-way output consistency control method for a heterogeneous multi-agent system, and the method comprises the following steps: 1, constructing state and output equations of a follower agent and a leader agent, calculating an output tracking error ei (k), and constructing an augmented system state space model and a linear control input ui (k); 2, designing a distributed bipartite observer for each follower agent to enable an output tracking error ei (k) to be zero all the time, and replacing a leader agent state of the augmented system state space model with a state of the distributed bipartite observer; 3, defining a Q function, solving the Q function to obtain an optimal control strategy, and introducing a Q-learning algorithm to obtain an optimal control gain only depending on an input state of the augmented system state space model; 4, introducing a fuzzy logic system approximation Q function to enable a matrix phi i to meet a full-rank condition, and updating a fuzzy weight by minimizing a Bellman residual error to obtain an optimal control gain of the input state of the augmented system state space model; and updating the control gain by adopting a gradient descent method, and calculating linear control input ui (k) by utilizing the updated control gain.

The invention discloses an output consistency control method based on a one-dimensional fluctuation partial differential multi-agent system, and relates to the cross technical field of multi-agent system control and partial differential equation application, and the method comprises the steps: constructing a dynamic model, an interference model and a reference signal model of a multi-agent system; constructing a directed communication topological graph including a leader and a plurality of agents; based on the directed communication topological graph and the reference signal model, respectively constructing reference signal observers of the informed intelligent agent and the uninformed intelligent agent; based on the interference model, constructing a local interference observer of the intelligent agent; constructing a conversion function, and converting the dynamical model into a dynamical model under the auxiliary system according to the conversion function; constructing a control law for the dynamical model under the auxiliary system; according to the control law, adjusting the state of each agent under the auxiliary system until the tracking error is zero; according to the invention, the output consistency of the multi-agent system can be realized in a complex environment.

The invention relates to a distributed cooperative processing method and system based on multi-source heterogeneous data real-time synchronization, source data and related factors thereof are packaged to generate a space-time event stream, and the related factors refer to environment factors associated with the source data; respectively establishing dynamic consistency contracts for the source data of the space-time event streams and related factors thereof, processing the space-time event streams meeting the consistency contracts, and generating target events according to the corresponding consistency contracts; performing analysis based on the operation sequence and the context of the space-time event stream, and outputting an analysis result; the target event is corrected based on the analysis result, the result is synchronously output, and the result is synchronized to the corresponding data source, performance, elasticity and expandability are achieved at the same time, the rigid choice of the CAP iron triangle (Bruhr theorem) in practice in the distributed field is broken, unprecedented precise consistency control is provided, and the method is suitable for popularization and application. And correct execution of the business rule is ensured.

The invention discloses a bipartite consistency control method of an unmanned aerial vehicle cluster under lagging full-state constraint, and relates to the technical field of unmanned aerial vehicle cluster cooperative control, comprising the following steps: establishing an unmanned aerial vehicle attitude dynamic model subjected to lagging full-state constraint and input saturation; constructing a coordinate conversion mechanism, and converting an original constrained system into an equivalent unconstrained system; constructing a cooperation-competition coexistence topology communication network, and defining an error dynamic state in combination with a self-adaptive backstepping control technology; an interval type-2 fuzzy logic system and a self-triggering communication protocol are integrated, and a self-adaptive fuzzy self-triggering fixed-time bipartite consistency controller is designed. According to the method, feasibility conditions do not need to be preset, through innovative coordinate conversion and control strategies, the problem of fixed-time dichotomy consistency control of the unmanned aerial vehicle cluster under lagging full-state constraint and input saturation is effectively solved, meanwhile, the network communication load is remarkably reduced by means of a self-triggering mechanism, and the system reliability is improved. And the control precision and the resource utilization efficiency of the system are improved.

Disclosed in the present invention are a virtual impedance angle adaptive control method and system for parallel operation of converters, relating to the technical field of converter system control, and comprising: by means of a consistency control algorithm, observing an active average value and a reactive average value; by means of the active average value and the reactive average value, obtaining a trigonometric function value corresponding to the virtual impedance angle; obtaining a virtual resistance and a virtual negative reactance corresponding to each converter; using a dynamically changing virtual impedance angle to perform power coordinate transformation on the active power and reactive power of the converter in order to obtain generalised active power and generalised reactive power; and controlling the generalised active power and generalised reactive power. The present invention is applicable to a scenario of parallel operation of converters, such as a microgrid; by dynamically adjusting the virtual impedance angle in real time, the problem of voltage deviation after the introduction of virtual impedance can be significantly improved, and the voltage quality can be improved.

The invention relates to the technical field of artificial intelligence and control, in particular to a non-linear multi-agent system fixed time consistency control method and device and a medium. According to the control method, a backstepping recursion method is used as a control design framework, a self-adaptive fixed time consistency controller based on an auxiliary compensation system is provided, and the problem of non-linear multi-self-body system consistency control under time-varying input delay is solved. By providing and changing a control input signal by a person, the motion trajectory of the multi-agent system can be modified as required. Time-varying input time delay and an unknown nonlinear function are considered in a system model, so that the system is more general. Wherein an unknown time-varying delay function is processed by constructing an auxiliary compensation system, and an unknown nonlinear function is processed by using radial basis function neural network approximation. According to a fixed time control correlation lemma, an actual fixed time adaptive consistency control method is provided to ensure that the consistency error of the multi-agent system converges to a neighborhood near an original point in fixed time.

The invention provides a self-adaptive integral concurrent learning consistency control method for an unmanned aerial vehicle cluster, and relates to the technical field of unmanned aerial vehicle control, and the method comprises the steps: building an unmanned aerial vehicle attitude dynamic model suffering from a hostile attack; a compensation variable and a first-order filter are introduced, and a coordinate conversion equation is established in combination with an adaptive dynamic surface control technology; an attack compensator is designed for online estimation and counteracting the influence of spoofing attacks on the system; an integral concurrent learning strategy and an event triggering control mechanism are fused, a memory event triggering interval type-2 fuzzy integral concurrent learning-based security consistency controller is designed, and the stability of a closed-loop attitude control system is analyzed based on a Lyapunov stability theory. Under the condition of limited excitation, the leadless attitude asymptotic consistency control under the unmanned aerial vehicle cluster spoofing attack is realized, the safety control problem under the condition that communication resources are limited in actual engineering application is effectively solved, and the robustness and the control precision of the unmanned aerial vehicle when the unmanned aerial vehicle is subjected to network attack are remarkably improved.

The invention discloses a trajectory tracking consistency method for a nonlinear heterogeneous multi-agent system, and relates to the field of artificial intelligence. According to the method, graph theory knowledge is utilized to construct a communication topological graph of a nonlinear heterogeneous multi-agent system; constructing a consistency control protocol based on the dynamic motion model of the follower agent; in the process that the multiple follower agents communicate with one another through the communication topological graph, for each of the multiple follower agents, the state and the expected track of the neighbor follower agent are obtained, and when an event triggering control strategy of the distributed control law is met, the state and the expected track of the neighbor follower agent are obtained; and updating the state of the follower agent according to the state of the neighbor follower agent, the expected trajectory and a consistency control protocol, and realizing the trajectory tracking consistency of the follower agent through a distributed control law within a preset time. The method can solve the communication cost problem when a nonlinear heterogeneous multi-agent system carries out trajectory tracking consistency.

The invention relates to the technical field of multi-agent control and motor control, and discloses a multi-agent event-triggered fixed time consistency control method, which comprises the following steps of: establishing a multi-agent system model and a communication network topology, quantifying local interaction strength among agents through an adjacent matrix, and establishing a multi-agent event-triggered fixed time consistency control system; a Laplacian matrix is utilized to globally describe dynamic behaviors of the system; establishing a measurement error and fixed time consistency controller, obtaining a sampling state through a sensor, and estimating an estimation state through a state estimator; and designing an event triggering function and event triggering conditions based on the fixed time consistency controller, and if an event is triggered, inputting the sampling state into the fixed time consistency controller to obtain an output value of the fixed time consistency controller of each agent. According to the method, state estimation is carried out based on event triggering and the real-time state of the system, the triggering frequency is reduced, continuous communication between intelligent agents is avoided, the system efficiency is improved, and the service life of the controller is prolonged.

The invention belongs to the field of panoramic stitching digital image processing technologies and camera ISP technologies, and particularly relates to a chromatic aberration consistency control method based on front and rear end collaboration. The method comprises the following steps: 1, acquiring statistical information of multiple cameras; step 2, acquiring a current camera control parameter by adopting a front-end chromatic aberration consistency adjustment algorithm; 3, the current camera control parameters are issued to all the cameras, and all the cameras complete exposure imaging according to the current camera control parameters; step 4, acquiring an overlapped part image in each path of camera imaging; step 5, calculating a statistical histogram cumulative distribution function of overlapped part images in each path of camera imaging; step 6, calculating a histogram matching function according to the cumulative distribution function of the overlapped part images in each path of overlapped camera imaging, so that the histograms of the overlapped parts of the two images tend to be consistent; and step 7, according to the obtained histogram matching function, transforming the brightness channel of each pixel in the corresponding camera imaging to complete color difference consistency correction.

This invention discloses a distributed consistency control method and device for primary-distribution-microgrid collaborative energy storage, relating to the field of power system energy storage control technology. The method includes the following steps: acquiring the SOC deviation and voltage deviation of each energy storage node; converting the voltage deviation into a dynamic feedback gain through nonlinear mapping; performing asymmetric adaptive correction of the SOC deviation using the difference in dynamic feedback gains between adjacent nodes; generating a local active power regulation quantity based on the corrected SOC deviation and upper-level scheduling instructions; controlling the local energy storage converter to perform power regulation through the active power regulation quantity, updating the SOC and voltage of the local node, and using the updated SOC and voltage as the initial values ​​for the next control cycle. This invention achieves spontaneous transfer of physical stress in a microgrid group and self-organized survival of the system without increasing the communication bandwidth of the centralized controller.

The invention discloses a flexible photovoltaic tracking support electrical linkage consistency control method and system. According to the method, the target angle, the real-time angle and the inclination angle data of a support are collected, a one-master multi-slave distributed control architecture is combined, and a transverse verification mechanism, a double-link cross correction mechanism and a longitudinal verification mechanism are utilized, so that synchronous and consistent operation between driving units is achieved; and hierarchical fault protection and angle self-calibration are executed when communication is interrupted, overloaded or triggered by hard limit. The system comprises a master controller, a slave controller, a motor encoder, a tilt angle sensor, a communication module, a protection module and an information interaction unit, and can realize local visualization and remote monitoring. According to the scheme, flexible support distortion and photovoltaic module damage caused by inconsistent driving can be effectively avoided, and the safety, reliability and operation and maintenance efficiency of the system are improved.

The invention relates to the technical field of solid-state storage, in particular to a solid-state disk data consistency control method, and aims to solve the problems that a solid-state disk is poor in data consistency, high in power failure loss risk and difficult to balance writing efficiency and consistency under the scenes of power failure, parallel writing and garbage collection. Full-process consistency control is realized by constructing a'cache-persistent cache 'layered architecture and combining a multi-channel write synchronization, power failure emergency migration and periodic check repair mechanism: receiving data and storing the data in a cache firstly, distributing a multi-channel write task according to weighted polling and synchronizing the state; the standby capacitor is triggered to supply power during power failure, and the cache data is migrated to the persistent cache according to the FIFO; and according to a configurable period of 1-24 hours, flash memory block data are verified through SHA-256 hash, and when the flash memory block data are inconsistent, the flash memory block data are repaired from a persistent cache / backup block. According to the method, the data consistency compliance rate of the solid-state disk is larger than or equal to 99.9%, the power-down data loss rate is smaller than or equal to 0.01%, the write-in delay is reduced by 15%-20%, and the method is adaptive to consumption-level, enterprise-level and industrial-level solid-state disks.

The invention discloses an MASs consistency logic security control method under hybrid attacks, and relates to the technical field of multi-agent system security control, the method comprises the following steps: firstly initializing MASs system parameters, and realizing data confidentiality protection and information tampering detection by an LSPM through a two-layer key mechanism of symmetric key encryption and asymmetric key signature; designing a segmented consistency controller for a mixed scene of eavesdropping, information tampering containing content and identity source tampering and DoS attack, and deriving a linear matrix inequality LMIs through a time-varying Lyapunov function LKFs to solve controller parameters; and finally, continuously executing data security transmission and state adjustment to ensure that the MASs realizes leader-follower LF consistency. According to the method, when the MASs face mixed network attacks such as eavesdropping, tampering and denial of service, a comprehensive guarantee with confidentiality, integrity and authenticity is provided, and the reliability that the system finally realizes a consistent control target is ensured.

The invention relates to the technical field of power batteries, in particular to an SOC consistency control method and a retired power battery energy storage system. The SOC consistency control method comprises the steps that an energy management system obtains a first SOC state value of each single power battery based on a working state of the retired power battery energy storage system; calculating a second SOC state value based on the fact that the acquisition process of all values is normal; calculating a reference difference value corresponding to each single power battery based on the second SOC state value; calculating a working efficiency value of an energy storage converter corresponding to each battery based on the reference difference value corresponding to each battery and a PID algorithm; based on each working efficiency value, the energy management system controls the power value of each energy storage converter. A retired power battery energy storage system is applied to the SOC consistency control method, so that the problem of unstable operation of the energy storage system caused by inconsistent capacity of each single power battery after retirement is solved.

The invention discloses a clustering consistency control method, system and equipment for multi-agent system safety. The method comprises the following steps: constructing a multi-agent system clustering network and a dynamic model based on external disturbance factors; obtaining communication topology between the intelligent agents based on the clustering network; the method comprises the following steps of: constructing an adaptive event triggering strategy with a memory characteristic on a clustering network, converting a system clustering consistency problem into a convergence analysis problem of an error system, then obtaining sufficient conditions for a distributed controller to meet anti-interference performance and mean square index stability through a Lyapunov-Krasovskii functional, and finally decoupling nonlinear factors to obtain an LMI condition; and solving controller gain and specified related parameters to realize security clustering consistency control of the multi-agent system in a communication resource limited and spoofing attack environment. According to the method, the consistent achievement of multi-agent system clustering and safe and stable operation under spoofing attack and disturbance network communication can be ensured.

The invention provides a packet consistency research method for a cooperation-competition network discrete heterogeneous multi-agent system with packet loss, and the method is characterized in that the method specifically comprises the following steps: 1, determining a dynamic model of the heterogeneous multi-agent system; 2, designing a packet consistency control protocol about packet loss; 3, obtaining a closed-loop form of the kinetic model according to the control protocol in the step 2; 4, assuming that the topological structure of the heterogeneous multi-agent system is a bipartite graph containing a spanning tree, and setting establishment conditions; and 5, proving that the establishment condition is established, and indicating that the closed-loop form of the dynamic model can realize progressive grouping consistency.

The invention relates to a consistency control method, device, equipment and storage medium for holographic optical tweezers, and relates to the technical field of holographic optical tweezers. The consistency control method includes S1, obtaining the position information of the controlled cell, obstacle cells and environmental boundaries, as well as the target position. S2, constructing the desired formation including virtual cells and controlled cells based on the position information. S3, updating the position information and executing the following steps until the controlled cell moves to the target position. S6, obtaining the gravitational parameters and repulsive parameters of the virtual cell based on the target position and the position information. S7, obtaining the expected position of the virtual cell at the next moment based on the gravitational parameters and repulsive parameters. S8, obtaining the total repulsive parameters of the controlled cell based on the position information. S9, obtaining the expected position of the controlled cell at the next moment based on the total repulsive parameters, the expected formation and the expected position of the virtual cell at the next moment. S10, updating the light trap position of the holographic optical tweezers based on the expected position of the controlled cell at the next moment.

This invention relates to the field of cooperative control technology, specifically to an adaptive event-triggered fixed-time consistency control method for multi-agent systems, comprising the following steps: S1, constructing a mathematical model of a nonlinear high-order multi-agent system with uncertain dynamics; S2, constructing a Lyapunov function containing a lower bound of uncertain parameters based on coordinate transformation; S3, designing an adaptive event-triggered controller with a positive bounded function using a backstepping control method, including a virtual controller, an adaptive law, and an event triggering mechanism; S4, proving through stability analysis that a high-order nonlinear multi-agent system with uncertain dynamics can achieve consistent output at a fixed time and avoid Zeno behavior. This invention's adaptive event-triggered fixed-time consistency control method for multi-agent systems solves the problem of consistent output at a fixed time for a class of high-order nonlinear multi-agent systems and extends existing results on consistent output at a fixed time.

The present invention discloses a method for consistency control of multiple robotic arms based on event triggering under limited communication. The method comprises: establishing a multi-robotic arm system model for the multi-robotic arm system based on algebraic graph theory; performing algorithmic control on each robotic arm of the multi-robotic arm system model through a distributed consistency control algorithm; when performing consistency control on each robotic arm, controlling the communication between each robotic arm through a preset event triggering communication protocol; when multiple robotic arms need to send status information, allocating communication channels to the multiple robotic arms through a preset channel scheduling strategy. The technical solution in the embodiment of the present invention improves the utilization rate of the robotic arm communication channel and improves the use of limited channels by designing a channel scheduling strategy based on event triggering under limited channel conditions.