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Coordination control method based on modeling of actuator saturation multi-intelligent system

A multi-agent system, coordinated control technology, applied in the field of multi-agent systems

Active Publication Date: 2016-12-21
SHANGHAI JIAO TONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is how to rationally utilize local information under the influence of actuator saturation nonlinearity to establish a coordinated control method that can be applied in complex industrial production processes, Ensure that the control performance and coordination performance of the system can meet the requirements

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Embodiment Construction

[0088] The embodiments of the present invention will be described in detail below. This embodiment is implemented under the technical solution of the present invention. The present invention provides detailed implementation and specific implementation process, but its protection scope is not limited to the following examples.

[0089] according to figure 1 Shown control structure, the specific steps of the embodiment of the present invention are:

[0090] Taking a fourth-order controlled object as an example, its subsystem is modeled using the state space expression method, and the model is as follows:

[0091] A = 0 1 0 0 - 2.3636 0 1 ...

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Abstract

The invention discloses a coordination control method based on the modeling of an actuator saturation multi-intelligent system and relates to the field of multi-intelligent systems. The method comprises the following steps of firstly, establishing an object subsystem mathematical model that meets the production scheduling requirements and the information flow rule constraints of the production process; secondly, establishing an information interaction network among all subsystems through statistical analysis, determining a leader system and a tracker system, and obtaining a self-adaptive coupling weight among network parameters and subsystems by utilizing relevant indexes; thirdly, respectively constructing a low-gain controller and a high-gain controller through solving out the feasible solutions of controllers; finally, applying low-high gain adaptive control laws to each subsystem to realize the tracking control of the leader system for the tracker system. According to the technical scheme of the invention, the obtained controller can be applied to various nonlinear dynamic systems and nonlinear input variables. Meanwhile, the method can also be directly applied to existing distributed control systems. Based on the method, the control cost is reduced, and the control precision is improved.

Description

technical field [0001] The invention relates to the field of multi-agent systems, in particular to a coordination control method based on actuator saturation multi-agent system modeling. Background technique [0002] In recent years, due to the fact that efficient plant-level control can perform distributed constraint optimization operations in industrial production processes, reduce energy and raw material consumption, and improve the production efficiency of industrial systems, it has attracted extensive attention from the industry. However, many objects in the process industry are often large-scale complex systems composed of subsystems or link units. According to the mechanism properties of energy or information flow, the production system of process industry can be modeled as a large number of subsystems based on network communication. Therefore, the coordinated control among subsystems becomes extremely important. [0003] According to its structure and networking, i...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/418
CPCG05B19/418Y02P90/02
Inventor 王景成王博辉黄晓莹赵亚琪李肖城王鸿源林海
Owner SHANGHAI JIAO TONG UNIV
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