A multi-agent global consistency control method and system

Abstract

The invention relates to a multi-agent global consistency control method and system. The reference body is determined, and the dynamic equations of each agent and the reference body are obtained; a controlled error multi-agent system is obtained; and a saturated distributed adaptive system is designed. Negative feedback controller, and make the time-varying control gain of the controller satisfy the adaptive update law; use the Gaussian error function and the differential median theorem to simulate the saturation effect; introduce assumptions, in the saturated distributed adaptive negative feedback controller and adaptive Under the action of the update law, based on the F i l i ppov differential inclusion and measure selection principle and the Lyapunov stability theorem, combined with the assumptions, the sufficient conditions for the multi-agent system to achieve global consistency are obtained. The invention provides sufficient conditions for the multi-agent system with nonlinear discontinuous dynamic behavior to achieve global consistency, and the considered model has more 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 set of autonomous, interacting entities that share a common environment, sense with sensors, and act with actuators. Many phenomena derived from the actual production practice process can be analyzed by the relevant theories of multi-agent systems, such as the formation control of mobile robots and the consistency problem in communication networks. [0003] In the multi-agent distributed coordination and cooperative control problem, the consensus problem has important practical significance and theoretical value as the basis for studying the behavior of multi-agent swarms. As the name suggests, the consistency problem aims to explore how to design an appropriate control strategy so that the state of each agent tends to be consistent over time. In recen...

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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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