Multi-agent global consistency control method and system

Abstract

The invention relates to a multi-agent global consistency control method and system, and the method comprises the steps: determining a reference body, and obtaining the kinetic equations of all agents and the reference body; obtaining a controlled error multi-agent system; designing a saturated distributed self-adaptive negative feedback controller, and enabling the time-varying control gain of the controller to meet the self-adaptive updating law; simulating a saturation effect by using a Gaussian error function and a differential median theorem; introducing assumed conditions, and under the action of a saturated distributed self-adaptive negative feedback controller and a self-adaptive updating law, on the basis of an Filippov differential inclusion and measurement selection principle and a Lyapunov stability theorem, obtaining a full condition for the multi-agent system to achieve global consistency by combining the assumed conditions. According to the method, a sufficient condition for achieving global consistency of the multi-agent system with the nonlinear discontinuous dynamic state is given, and the considered model has higher universality and practical significance.

Description

technical field [0001] The invention relates to the technical field of multi-agent systems, in particular to a multi-agent global consistency control method and system. Background technique [0002] A multi-agent system is a group of autonomous, interacting entities that share a common environment, perceive with sensors, and act with actuators. Many phenomena derived in the actual production practice can be analyzed by using the relevant theories of multi-agent systems, such as formation control of mobile robots and consistency problems in communication networks. [0003] In the multi-agent distributed coordination and cooperation control problem, the consensus problem has important practical significance and theoretical value as the basis of studying multi-agent cluster behavior. As the name suggests, the consistency problem aims to explore how to design an appropriate control strategy to make the state of each agent tend to be consistent over time. In recent years, resea...

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Problems solved by technology

[0005] For this reason, the technical problem to be solved by the present invention is to overcome the defect in the prior art that the multi-agent system with discontinuous dynamics cannot be realized globally consistent, by designing a suitable distributed negative feedback controller to make each agent The state tends to be synchronized with time, and based on Filippov differential inclusion and measure selection principles and Lyapunov stability theorem, a sufficient condition for multi-agent systems to achieve global consistency is given

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