CN109507880A - A kind of multiple agent consistency control method of event-driven strategy - Google Patents
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Abstract
The present invention relates to a kind of multiple agent consistency control method of event-driven strategy, steps are as follows: for the original control function of designing Multi-Agent system event-driven strategy；The information designed between intelligent body controller transmits instruction；On the second order multiple agent consistency problem with oriented topology, control function is improved, and carry out feasibility analysis；Efficiency analysis will be carried out on control function and transmission instruction extension to the multi-agent system with Nonlinear Dynamic；Using intelligent body and its neighbours event triggering moment Design of State adaptive approach；Under signal transmission between intelligent body controller, complete to control the consistency of multiple agent by the driving function of event-driven strategy.The present invention is safe and convenient to use, reduces the execution number of number of communications between intelligent body, the information interaction amount between multiple agent and controller, reduces the frequency of communication, accelerate the control efficiency to the multiple agent consistency of event-driven strategy.
Description
Technical field
The present invention relates to a kind of field of intelligent control technology, specially a kind of multiple agent consistency of event-driven strategy
Control method.
Background technique
With the development of science and technology, the scale of control system becomes much larger, control task is also become more complicated, multiple agent
The Collaborative Control of system extensive task can be split as multiple subtasks transfer to each intelligent body be respectively completed therefore it in machine
Device people's field searching, unmanned plane are formed into columns, and wireless sensor covering etc. has a wide range of applications, wherein the consistency of intelligent body
Problem has attracted many scholars's note that simultaneously having achieved many valuable research achievements, and consistency problem is as collaboration control
Most important branch plays a crucial role in real network-control in system.
In in the past few decades, consistency has attracted as the mainstream problem of multi-agent network research from section
Learn the extensive concern with scholar in each research field of engineering.Although having there is a large amount of research work, previous work
Be all based on the feedback control technology of continuous time, this technology have the shortcomings that one it is apparent inevitable: the control of design
Device processed needs real-time update, and this requires network nodes must be equipped with high-performance processor and high speed communication link, in many
Practical application in, node in network is not continuous when sending information to their neighbor node, but it is some from
On scattered time point, also, when in use, communication frequency is higher, and the information interaction amount of communication increases, the control number of actuator
Also higher, it will lead to the waste of resource, so, people are badly in need of a kind of multiple agent consistency control of improved event-driven strategy
Method processed solves the above problems.
Summary of the invention
Sending information to neighbor node for network node in the prior art is the communication frequency on some discrete time points
Rate is higher, will lead to the deficiencies of wasting of resources, and the technical problem to be solved in the present invention is to provide one kind can effectively solve controller
Need the multiple agent consistency control method of the event-driven strategy of real-time update.
The technical solution adopted by the present invention is that:
A kind of multiple agent consistency control method of event-driven strategy of the present invention, comprising the following steps:
S1) it is directed to the original control function of designing Multi-Agent system event-driven strategy；
S2 it) is based on original control function form, the information designed between intelligent body controller transmits instruction；
S3) under event-driven control strategy original control function and information transmission instruction, with it is oriented topology
On second order multiple agent consistency problem, control function is improved, and carry out feasibility analysis；
S4) validity will be carried out on control function and transmission instruction extension to the multi-agent system with Nonlinear Dynamic
Analysis；
S5) utilize intelligent body and its neighbours in the Design of State adaptive approach of event triggering moment, respectively system is opened up
The adaptive approach of variable weight when side adaptive approach and node in flutterring distribute；
S6 it) under the signal transmission between intelligent body controller, is completed by the driving function of event-driven strategy to more
The consistency of intelligent body controls.
Step S1) in, for the original control function of designing Multi-Agent system event-driven strategy are as follows:
S101 centralized event-driven function) is designed as original driving function form；
S102) distributed event driving function is designed for each of multi-agent system intelligent body；
S103 distributed event driving function) is improved, it is made to only depend on neighbours' intelligent body in the state of event time.
A kind of driving function is designed first, when the function meets certain trigger condition, an event referred to as has occurred, only
Have when an event occurs, the processor of intelligent body just updates control signal, in event-driven method, in addition to the processing of intelligent body
Device also only just samples and transmits signal in event generation time only in event time more new signal；Utilize Liapunov letter
Counting method gives single order multi-agent system and realizes consistent criterion；Distributed event drive control strategy is introduced, is realized more
The distributed consensus of multiagent system controls.
Step S3) in feasibility analysis are as follows:
S301 centralized event-driven function) is designed, using liapunov function method, is provided with oriented topology
Second order multi-agent system realizes consistent criterion, while providing the design method of consistency control algolithm parameter；
S302 distributed event driving function) is designed for each of multi-agent system intelligent body, makes the driving letter
Several need to using neighbours status information and in nonsystematic all intelligent bodies information, to provide second order multi-agent system at this
Kind driving function control is lower to realize consistent adequate condition, designs suitable liapunov function；
S303) to be further reduced number of communications between intelligent body, improve distributed event driving function, make its only according to
Rely the state in neighbours' intelligent body in event time, under three of the above driving function, arbitrarily between the time between event twice
Every all having positive lower bound, unlimited aggregation of the event in limited period of time is excluded.
Step S4) in efficiency analysis are as follows:
S401) centralized and distributed two kinds of drivings letter is separately designed for single order multiple agent and second order multi-agent system
Consistency control algolithms several and corresponding to both driving methods based on event time state；
S402) consistent sufficiently sentenced by designing suitable liapunov function method and providing multi-agent system and realize
Accordingly and the condition that need to meet of control algolithm parameter；
S403) unlimited aggregation of the event in limited period of time is excluded finally by the time interval between analysis event.
Step S5) in, variable weight when node when side is distributed in the adaptive approach and system topological of variable weight distributes
Adaptive approach is by driving strategy to combine with distributed event, and the parameter and intelligent body of control algolithm are in event time
State carry out dynamic regulation and using liapunov function method and Barbalat ' s lemma provide both adaptive things
System realizes consistent Sufficient Criteria under part driving method, under finally proving that the time interval between any event twice has just
Boundary excludes unlimited aggregation of the event in limited period of time.
Step S3) in consistency, specific protocol algorithm is as follows:
xi(t)=Axi(t)+Bui(t), i=1,2 ..., N；
xi(t)∈RnAnd ui(t)∈RpRespectively indicate the state and control input of each intelligent body；A∈Rn×pWith B ∈ Rn×p
For constant matrices；
For each intelligent body i, controller need to only touch at initiation event excitation instant point, obtain following formula:
In formula: K1, K2∈Rp×nTo control gain matrix,Indicate the event-driven time sequence of intelligent body i
Column.
The invention has the following beneficial effects and advantage:
1. structure of the invention is scientific and reasonable, safe and convenient to use, driven by designing centralization relevant to time index
Function and centralized driving function relevant to intelligent body state, the number of communications being further reduced between intelligent body improve
Distributed driving function reduces the frequency of communication to avoid backfence continuous communiction, reduces the letter between multiple agent
Interactive quantity is ceased, meanwhile, reduce the execution number of controller, accelerates the control to the multiple agent consistency of event-driven strategy
Efficiency processed.
2. the present invention is an improved event trigger mechanism, in the mechanism, event judgement depends only on neighbours' section
Point measuring state rather than real-time status, this allow for driving update times compared with traffic load before event triggering machine
System can be further reduced, very good solution of the present invention continuous time feedback problem, and in the traction of multi-agent network one
The purpose for reducing the traffic is realized in the control of cause property.
Detailed description of the invention
Fig. 1 is the method for the present invention control flow chart；
Fig. 2 is that event-driven control strategy is consistent in the second order multi-agent system with oriented topology in the method for the present invention
Property problem on feasibility control flow chart；
Fig. 3 is event-driven control method in the method for the present invention in the multi-agent system consistency with Nonlinear Dynamic
The flow chart of Validity control in problem.
Specific embodiment
The present invention is further elaborated with reference to the accompanying drawings of the specification.
As shown in Figure 1, a kind of multiple agent consistency control method of event-driven strategy of the present invention, including following step
It is rapid:
S1) it is directed to the original control function of designing Multi-Agent system event-driven strategy；
S2 it) is based on original control function form, the information designed between intelligent body controller transmits instruction；
S3) under event-driven control strategy original control function and information transmission instruction, with it is oriented topology
On second order multiple agent consistency problem, control function is improved, and carry out feasibility analysis；
S4) validity will be carried out on control function and transmission instruction extension to the multi-agent system with Nonlinear Dynamic
Analysis；
S5) utilize intelligent body and its neighbours in the Design of State adaptive approach of event triggering moment, respectively system is opened up
The adaptive approach of variable weight when side adaptive approach and node in flutterring distribute；
S6 it) under the signal transmission between intelligent body controller, is completed by the driving function of event-driven strategy to more
The consistency of intelligent body controls.
As shown in Fig. 2, step S1) in, for the original control function of designing Multi-Agent system event-driven strategy are as follows:
S101 centralized event-driven function) is designed as original driving function form；
S102) distributed event driving function is designed for each of multi-agent system intelligent body；
S103 distributed event driving function) is improved, it is made to only depend on neighbours' intelligent body in the state of event time.
Step S3) in feasibility analysis are as follows:
S301 centralized event-driven function) is designed, using liapunov function method, is provided with oriented topology
Second order multi-agent system realizes consistent criterion, while providing the design method of consistency control algolithm parameter；
S302 distributed event driving function) is designed for each of multi-agent system intelligent body, makes the driving letter
Several need to using neighbours status information and in nonsystematic all intelligent bodies information, to provide second order multi-agent system at this
Kind driving function control is lower to realize consistent adequate condition, designs suitable liapunov function；
S303) to be further reduced number of communications between intelligent body, improve distributed event driving function, make its only according to
Rely the state in neighbours' intelligent body in event time, under three of the above driving function, arbitrarily between the time between event twice
Every all having positive lower bound, unlimited aggregation of the event in limited period of time is excluded.
Step S3) in consistency, specific protocol algorithm is as follows:
xi(t)=Axi(t)+Bui(t), i=1,2 ..., N；
xi(t)∈RnAnd ui(t)∈RpRespectively indicate the state and control input of each intelligent body；A∈Rn×pWith B ∈ Rn×p
For constant matrices；
For each intelligent body i, controller need to only touch at initiation event excitation instant point, obtain following formula:
In formula: K1, K2∈Rp×nTo control gain matrix,Indicate the event-driven time sequence of intelligent body i
Column.
As shown in figure 3, step S4) in efficiency analysis are as follows:
S401) centralized and distributed two kinds of drivings letter is separately designed for single order multiple agent and second order multi-agent system
Consistency control algolithms several and corresponding to both driving methods based on event time state；
S402) consistent sufficiently sentenced by designing suitable liapunov function method and providing multi-agent system and realize
Accordingly and the condition that need to meet of control algolithm parameter；
S403) unlimited aggregation of the event in limited period of time is excluded finally by the time interval between analysis event.
Step S5) in, variable weight when node when side is distributed in the adaptive approach and system topological of variable weight distributes
Adaptive approach is by driving strategy to combine with distributed event, and the parameter and intelligent body of control algolithm are in event time
State carry out dynamic regulation and using liapunov function method and Barbalat ' s lemma provide both adaptive things
System realizes consistent Sufficient Criteria under part driving method, under finally proving that the time interval between any event twice has just
Boundary excludes unlimited aggregation of the event in limited period of time.
In the present embodiment, a kind of driving function is designed first, when the function meets trigger condition, is referred to as had occurred primary
Event, only when an event occurs, the processor of intelligent body just update control signal, in event-driven method, in addition to intelligence
The processor of body also only just samples and transmits signal in event generation time only in event time more new signal；Utilize Li Ya
Pu Nuofu functional based method gives single order multi-agent system and realizes consistent criterion；Introduce distributed event drive control plan
Slightly, the distributed consensus control of multi-agent system is realized.
The method of the present invention designs centralized event-driven function first, and using liapunov function method, providing has
The second order multi-agent system of oriented topology realizes consistent criterion, while giving the design side of consistency control algolithm parameter
Method；Secondly, devising distributed event driving function for each of multi-agent system intelligent body, make the driving function only
Need using neighbours status information and in nonsystematic all intelligent bodies information, to provide second order multi-agent system this
Driving function control is lower to realize consistent adequate condition, designs suitable liapunov function；Finally, to be further reduced intelligence
Number of communications between energy body, improving distributed event driving function makes it only depend on neighbours' intelligent body in event time
State, under three of the above driving function, the time interval arbitrarily twice between event all has positive lower bound, eliminates event and exists
Unlimited aggregation in limited period of time.
Step S2) MAS control device is devised, and the communications between MAS control device are instructed and are carried out
Design, makes that efficient information transmitting can be carried out between multiple agent.
In step S4), for single order multi-agent system and second order multi-agent system point with undirected connection topology
Research has not been carried out to discuss, separately designs centralized and distributed two kinds of drives for single order multiple agent and second order multi-agent system
Dynamic function and the consistency control algolithm based on event time state corresponding to both driving methods, it is assumed that intelligent body dynamic
In nonlinear terms meet Lipschitz condition, provide multiple agent system by designing suitable liapunov function method
System realizes the condition that consistent Sufficient Criteria and control algolithm parameter need to meet, finally by between the time between analysis event
Every unlimited aggregation of the event that eliminates in limited period of time.
Inventive algorithm is scientific and reasonable for structure, safe and convenient to use, is driven by designing centralization relevant to time index
Dynamic function and centralized driving function relevant to intelligent body state, the number of communications being further reduced between intelligent body are improved
Distributed driving function reduces the frequency of communication, reduces between multiple agent to avoid backfence continuous communiction
Information interaction amount, meanwhile, reduce the execution number of controller, accelerates to the multiple agent consistency of event-driven strategy
Control efficiency, this scheme proposed is an improved event trigger mechanism, and in the mechanism, event judgement is only relied only on
In neighbor node measuring state rather than real-time status, this allow for driving update times compared with traffic load before thing
Part trigger mechanism can be further reduced, by this technological improvement, our very good solutions continuous time feedback problem, and
The purpose for reducing the traffic is realized in the traction consistency control of multi-agent network.
Claims (6)
1. a kind of multiple agent consistency control method of event-driven strategy, it is characterised in that the following steps are included:
S1) it is directed to the original control function of designing Multi-Agent system event-driven strategy；
S2 it) is based on original control function form, the information designed between intelligent body controller transmits instruction；
S3) under event-driven control strategy original control function and information transmission instruction, in the second order with oriented topology
On multiple agent consistency problem, control function is improved, and carry out feasibility analysis；
S4) validity point will be carried out on control function and transmission instruction extension to the multi-agent system with Nonlinear Dynamic
Analysis；
S5) utilize intelligent body and its neighbours in the Design of State adaptive approach of event triggering moment, respectively in system topological
Side adaptive approach and node distribute when variable weight adaptive approach；
S6 it) under the signal transmission between intelligent body controller, is completed by the driving function of event-driven strategy to mostly intelligent
The consistency of body controls.
2. the multiple agent consistency control method of event-driven strategy according to claim 1, it is characterised in that step
S1 in), for the original control function of designing Multi-Agent system event-driven strategy are as follows:
S101 centralized event-driven function) is designed as original driving function form；
S102) distributed event driving function is designed for each of multi-agent system intelligent body；
S103 distributed event driving function) is improved, it is made to only depend on neighbours' intelligent body in the state of event time.
3. the multiple agent consistency control method of event-driven strategy according to claim 1, it is characterised in that: step
S3 the feasibility analysis in) are as follows:
S301 it) designs centralized event-driven function and provides the second order with oriented topology using liapunov function method
Multi-agent system realizes consistent criterion, while providing the design method of consistency control algolithm parameter；
S302 distributed event driving function) is designed for each of multi-agent system intelligent body, makes the driving function only
Need to using neighbours status information and in nonsystematic all intelligent bodies information, to provide second order multi-agent system in this drive
Dynamic function control is lower to realize consistent adequate condition, designs suitable liapunov function；
S303) to be further reduced the number of communications between intelligent body, distributed event driving function is improved, it is only depended on
Neighbours' intelligent body is in the state of event time, and under three of the above driving function, the time interval arbitrarily twice between event is equal
With positive lower bound, unlimited aggregation of the event in limited period of time is excluded.
4. the multiple agent consistency control method of event-driven strategy according to claim 1, it is characterised in that: step
S4 the efficiency analysis in) are as follows:
S401) for single order multiple agent and second order multi-agent system separately design centralized and distributed two kinds of driving functions with
And the consistency control algolithm based on event time state corresponding to both driving methods；
S402) by design suitable liapunov function method provide multi-agent system realize consistent Sufficient Criteria with
And the condition that control algolithm parameter need to meet；
S403) unlimited aggregation of the event in limited period of time is excluded finally by the time interval between analysis event.
5. the multiple agent consistency control method of event-driven strategy according to claim 1, it is characterised in that: step
S5 in), the adaptive approach of variable weight when node when side is distributed in the adaptive approach and system topological of variable weight distributes is
By driving strategy to combine with distributed event, the parameter and intelligent body of control algolithm carry out dynamic in the state of event time
It adjusts, using liapunov function method and Barbalat ' s lemma, provides under both adaptive event driving methods and be
System realizes consistent Sufficient Criteria, finally proves that the time interval between any event twice has positive lower bound, the event of exclusion exists
Unlimited aggregation in limited period of time.
6. the multiple agent consistency control method of event-driven strategy according to claim 1, it is characterised in that: step
S3 the consistency in), specific protocol algorithm are as follows:
xi(t)=Axi(t)+Bui(t), i=1,2 ..., N；
xi(t)∈RnAnd ui(t)∈RpRespectively indicate the state and control input of each intelligent body；A∈Rn×pWith B ∈ Rn×pIt is normal
Matrix number；
For each intelligent body i, controller need to only touch at initiation event excitation instant point, obtain following formula:
In formula: K1, K2∈Rp×nTo control gain matrix,Indicate the event-driven time series of intelligent body i.
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