Distributed pulse consistency control method and system of time-varying time-lag multi-agent

Abstract

The invention relates to a distributed pulse consistency control method and system for a time-varying and time-lag multi-agent, and the method comprises the following steps: constructing a time-varying and time-lag nonlinear multi-intelligent model containing a plurality of independent agents, and obtaining a target state model based on the time-varying and time-lag nonlinear multi-intelligent model; constructing a distributed pulse containment controller based on a pulse containment control method; defining an error vector and establishing a corresponding error system model according to the time-varying time-delay nonlinear multi-intelligent model of the intelligent agent and the distributed pulse containment controller; constructing a Lyapunov function based on the error system model and proving that a derivative value of the Lyapunov function has an upper bound; solving the relation of Lyapunov function values at the pulse generation time; and performing upper bound analysis by using a pulse comparison principle and a parameter variation method to obtain that the non-linear multi-agent system with time-varying and time-lag can realize consistency. The consistency error of the system is converged to zero in an exponential form, and the accuracy is high.

Description

technical field [0001] The invention relates to the field of information technology, in particular to a distributed pulse consistency control method and system for time-varying and time-delay multi-agent agents. Background technique [0002] In the past few decades, the non-linear multi-agent consensus problem has attracted a lot of attention at home and abroad due to its broad application prospects in unmanned vehicle driving, unmanned aerial vehicle formation, communication network, wireless sensor network control, etc. the eyes of scholars. In a multi-agent system, each independent agent has certain independence and certain learning ability. But multi-agent is a system that pays attention to coordination, and requires each agent in the multi-agent to reach a common state, so as to maximize efficiency. [0003] With the continuous deepening of research on nonlinear multi-agents, impulsive pinning control has been more and more applied to the research field of nonlinear m...

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Problems solved by technology

[0006] For this reason, the technical problem to be solved by the present invention is to overcome the technical defects in the prior art that if the existence of time-varying time lag in the system is not well described or considered, design defects or incorrect analysis conclusions will be obtained

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