The application discloses a kind of multi-agent collaborative control method and
system based on the integration of general sense
algorithm wisdom, obtain dynamics, channel,
radar, task
queue and energy state, construct by Euclidean space, symmetric
positive definite matrix manifold and non-negative real number space Generalized
state representation;Predict channel state, target trajectory and uncertainty
covariance using conditional variational
inference network;The prediction result and Lyapunov drift penalty term are introduced into local mean field stochastic state equation and transient stage penalty, and candidate resource strategy and resource marginal technical utility are generated by deep
Galerkin method;Under the constraint of total resource, obtain communication, sensing and computing
resource allocation vector, according to which adjust
event trigger threshold, update parameters and
model predictive control solving parameters;Control input is generated under the constraint of control
barrier function, and safety fallback quadratic
programming is executed when high uncertainty, safety check or solving fails, to realize closed-loop cooperation of
resource scheduling, environment prediction and
safety control.