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Control method of connection structure multi-intelligent-agent coordination and consistency

A multi-agent system and series structure technology, applied in the field of control science and engineering, can solve problems affecting system control performance, etc., and achieve the effect of improving overall coordination, improving coordination consistency, and reducing transmission burden

Inactive Publication Date: 2018-08-21
CHINA UNIV OF PETROLEUM (EAST CHINA)
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, due to the mutual coupling between agents, especially the multi-agent system based on the series structure, with the directional transmission of information, when the control input of a single agent is updated, it will affect the adjacent subsystems, thus affecting this system. System Control Performance

Method used

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  • Control method of connection structure multi-intelligent-agent coordination and consistency
  • Control method of connection structure multi-intelligent-agent coordination and consistency
  • Control method of connection structure multi-intelligent-agent coordination and consistency

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Embodiment Construction

[0016] A kind of series structure multi-agent system coordination consistency control method of the present invention, comprises the following steps:

[0017] 1) Determine the topology structure and the transmission relationship of agent information

[0018] For M multi-agent systems, consider the discrete time-invariant system model of the i-th agent

[0019] x i_k+1 =A i x i_k +B i u i_k

[0020] the y i_k =C i x i_k +D i u i_k

[0021] where x i ,y i ,u i are the state, output and input of the system, respectively, A i ,B i ,C i ,D i is a matrix of the corresponding dimension. Its adjacency matrix is ​​A=[a ij ]. There is an information exchange network G{ν ε A} among M agents, consisting of node set ν=[i,i=1,...,M], edge set ε=ν×ν and adjacency matrix A= [a ij ]∈, A is an adjacency matrix with non-negative elements, a ij ≥0, "ij", the pair represents that agent i can directly obtain information from j. otherwise a ij = 0, we assume that there is n...

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Abstract

The invention provides a control method of the connection structure multi-intelligent-agent coordination and consistency. The control method comprises the following steps of 1, determining a topologystructure of multiple intelligent agents and obtaining an information transmission relation among the intelligent agents; 2, obtaining an adjacency matrix and an accessibility matrix respectively anddetermining the weight information of information among the intelligent agents; 3, solving a certain optimization function, obtaining a control protocol, based on a rolling optimization strategy, updating a control law of each intelligent agent in a sampling cycle in sequence and starting new circulation in the next cycle, wherein the control strategy is a multi-speed control strategy in essence.The control method can be widely applied to control of multi-intelligent-agent coordination and consistency.

Description

[0001] Conventional predictive control, multi-rate, communication between subsystems, introduction of weighting factors technical field [0002] The invention designs a coordination and consistency control method for a series structure multi-agent system, which belongs to the field of control science and engineering. Background technique [0003] A multi-agent system is a large system that is connected by autonomous agents with computing, sensory communication and mobility capabilities through network communication. Information transfer between agents. Although the processing power of a single system is limited, the overall associated system can complete a variety of spatially distributed sensing tasks in a coordinated manner, such as task distribution, load transfer, role assignment, search and rescue, surveillance, environmental detection and exploitation Wait. [0004] With the wide application of multi-agent systems, distributed coordinated control such as formation, a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 张晓东王宇轩高绍姝刘玉玺
Owner CHINA UNIV OF PETROLEUM (EAST CHINA)
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