Discontinuous self-delay multi-agent system consistency and saturation distributed control method
A multi-agent system and distributed control technology, applied in the information field, can solve problems such as the aggravation of control signal roughness, achieve the effects of accelerating the speed of consistent convergence, improving control effects, and enhancing universality
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[0092] The technical solutions of the present invention will be further described below according to the drawings and embodiments.
[0093] Step 1: Configure system parameters. Consider a discontinuous multi-agent system composed of 4 agents, each agent has 3 state components (N=4,n=3), the specific form is as follows
[0094]
[0095] From this, the state inline matrix B=diag(-1.3,-1.5,-2.4) and the delay configuration matrix D can be obtained 1 =diag(0,0,1),D 2 =diag(1,1,0), S=2. Discontinuous kinetic function take m 0 =0.1.
[0096] Step 2: Select the distributed control matrix parameters. In order to realize the state information interaction between agents, the control coupling matrix is selected to realize distributed control. If the first agent is taken as a reference node (isolated node), it cannot receive status update information from other agents. But it can transmit its own state information to other agents, that is to say a 1j =0,j=1,2,3,4.
[0097] ...
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