Multi-agent system consistency method, storage medium and computer

Abstract

The invention belongs to the technical field of intelligent control, and discloses a multi-agent system consistency method, a storage medium and a computer, and the multi-agent system consistency method comprises the steps: building a multi-agent dynamic model interfered by external disturbance; according to the communication topology among the multiple agents, determining an estimation method of each agent to the own state and the neighbor node state; determining a controller according to the multi-agent dynamic model and state estimation; determining an event triggering condition; and enabling each agent to perform event triggering condition detection according to the event triggering condition determined in the fourth step. According to the MAS model established by the invention, external interference is considered, continuous communication between adjacent agents is not needed, a strategy for event triggering condition detection is optimized, the triggering frequency can be remarkably reduced, system resources are saved, and the calculation burden is relieved.

Description

technical field [0001] The invention belongs to the technical field of intelligent control, and in particular relates to a multi-agent system consistency method, a storage medium and a computer. Background technique [0002] Currently, multi-agent systems (MAS) have a wide range of applications such as unmanned aerial systems, coordination of multiple robots, and sensor networks, and its consistency problem has received great attention in the past decade. Generally speaking, agents access each other through a shared network, but communication resources are usually limited, therefore, an important research question in MAS is how to design a consensus protocol to achieve the required performance while reducing the use of communication resources . The introduction of event trigger mechanism provides a positive solution to this problem. [0003] However, for a continuous multi-agent system, each agent still needs to continuously detect whether the current event trigger conditi...

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Problems solved by technology

[0004]Through the above analysis, the problems and defects of the existing technology are: although the event trigger mechanism reduces the use of communication resources, continuous detection of the event trigger mechanism still takes up More computing resources are required, and it is necessary to further optimize the detection frequency of the event trigger mechanism

[0005]The difficulty of solving the above problems and defects is: each agent continuously detects whether the current event trigger condition is satisfied, which will consume more energy and greatly limit the If the detection frequency of event trigger conditions is reduced, it is very likely to cause system instability, resulting in a multi-agent system that cannot guarantee consistency or even loses control.

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