CN109507880B - Multi-agent consistency control method of event-driven strategy - Google Patents
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Abstract
The invention relates to a multi-agent consistency control method of an event-driven strategy, which comprises the following steps: designing an original control function of an event-driven strategy aiming at the multi-agent system; designing an information transmission instruction between intelligent controllers; on the basis of the consistency problem of a second-order multi-agent with a directed topology, a control function is improved, and feasibility analysis is carried out; expanding a control function and a transmission instruction to a multi-agent system with nonlinear dynamics for effectiveness analysis; designing a self-adaptive method by using the states of the intelligent agent and the neighbors thereof at the event triggering moment; and under the signal transmission between the intelligent controllers, the consistency control of the multi-intelligent agent is completed through a driving function of an event driving strategy. The invention has safe and convenient use, reduces the communication times among the agents, the information interaction amount among the agents and the execution times of the controller, reduces the communication frequency and accelerates the control efficiency of the consistency of the agents of the event-driven strategy.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to a multi-agent consistency control method of an event-driven strategy.
Background
With the development of science and technology, the scale of a control system becomes larger, the control task becomes more complex, and the cooperative control of a multi-agent system can divide a large-scale task into a plurality of subtasks to be respectively completed by each agent.
Consistency has attracted a wide range of attention from scholars in various areas of science and engineering over the past few decades as a mainstream problem in multi-agent network research. Despite the considerable research efforts, previous work has been based on continuous-time feedback control techniques, which have a significant unavoidable disadvantage: the designed controller needs to be updated in real time, which requires that the network nodes must be equipped with high-performance processors and high-speed communication links, in many practical applications, the nodes in the network transmit information to their neighboring nodes not continuously but at discrete time points, and when in use, the communication frequency is high, the amount of information interaction of communication is increased, the control times of actuators are also high, which leads to waste of resources, so that an improved multi-agent consistency control method of event-driven strategy is urgently needed to solve the problems.
Disclosure of Invention
Aiming at the defects that the network node sends information to the neighbor node at discrete time points, the communication frequency is high, resource waste is caused and the like in the prior art, the invention provides the multi-agent consistency control method capable of effectively solving the problem that an event-driven strategy of a controller needs to be updated in real time.
The technical scheme adopted by the invention is as follows:
the invention discloses a multi-agent consistency control method of an event-driven strategy, which comprises the following steps:
s1) designing an original control function of the event-driven strategy for the multi-agent system;
s2) designing an information transmission instruction between intelligent controllers based on the original control function form;
s3) for the original control function and the information transmission instruction under the event-driven control strategy, improving the control function on the basis of the consistency problem of the second-order multi-agent with directed topology, and carrying out feasibility analysis;
s4) expanding the control function and the transmission instruction to a multi-agent system with nonlinear dynamics for effectiveness analysis;
s5) designing a self-adaptive method by using the states of the agent and its neighbors at the event triggering moment, and respectively allocating a time-varying weight self-adaptive method for the edge self-adaptive method and the node in the system topology;
s6) under signal transmission between the intelligent controllers, the consistency control of the multi-agent is completed through the driving function of the event-driven strategy.
Step S1), the original control function for the event-driven strategy designed for the multi-agent system is:
s101) designing a centralized event-driven function as an original drive function form;
s102) designing a distributed event-driven function for each agent in the multi-agent system;
s103) improving the distributed event-driven function to depend only on the state of the neighbor agent at the event time.
Firstly, designing a driving function, when the function meets a certain triggering condition, namely a primary event occurs, and only when the event occurs, a processor of the intelligent agent updates a control signal; a Lyapunov function method is utilized to provide a criterion for realizing consistency of a first-order multi-agent system; and a distributed event-driven control strategy is introduced to realize distributed consistency control of the multi-agent system.
Feasibility analysis in step S3) was:
s301), designing a centralized event-driven function, providing a criterion for realizing consistency of a second-order multi-agent system with directed topology by using a Lyapunov function method, and providing a design method of consistency control algorithm parameters;
s302) designing a distributed event driving function for each intelligent agent in the multi-intelligent-agent system, so that the driving function only needs to utilize state information of neighbors but not information of all intelligent agents in the system, and designing a proper Lyapunov function for providing a sufficient condition that a second-order multi-intelligent-agent system realizes consistency under the control of the driving function;
s303) in order to further reduce the communication times among the agents, a distributed event driving function is improved to be only dependent on the state of the neighbor agent at the event moment, under the three driving functions, the time interval between any two events has a positive lower bound, and infinite aggregation of the events in a limited time period is eliminated.
The validity analysis in step S4) is:
s401) respectively designing a centralized driving function and a distributed driving function for a first-order multi-agent system and a second-order multi-agent system and a consistency control algorithm corresponding to the two driving methods and based on the event time state;
s402) providing a sufficient criterion for realizing consistency of the multi-agent system and a condition to be met by controlling algorithm parameters by designing a proper Lyapunov function method;
s403) finally excludes an infinite aggregation of events within a finite period of time by analyzing the time interval between events.
Step S5), the self-adaptive method for distributing time-varying weight at the edge and the self-adaptive method for distributing time-varying weight at the node in the system topology are combined with the distributed event-driven strategy, the parameters of the control algorithm and the state of the intelligent agent at the event moment are dynamically adjusted, the Lyapunov function method and the Barbalt' S theorem are utilized to provide the sufficient criterion for realizing the consistency of the systems under the two self-adaptive event-driven methods, and finally the time interval between any two events is proved to have a positive lower bound, thereby eliminating the infinite aggregation of the events in a limited period of time.
Step S3), the specific protocol algorithm is as follows:
xi(t)＝Axi(t)+Bui(t)，i＝1，2…，N；
xi(t)∈Rnand ui(t)∈RpRespectively representing the status and control inputs of each agent; a is an element of Rn×pAnd B ∈ Rn×pIs a constant matrix;
for each agent i, the controller need only touch at the initial event firing time point, resulting in the following formula:
in the formula: k1，K2∈Rp×nIn order to control the gain matrix, the gain matrix is,
representing an event driven time series for agent i.
The invention has the following beneficial effects and advantages:
1. the invention has scientific and reasonable structure and safe and convenient use, further reduces the communication frequency between the intelligent agents by designing the centralized driving function related to the time index and the centralized driving function related to the state of the intelligent agents, improves the distributed driving function to avoid the continuous communication between adjacent agents, reduces the communication frequency, reduces the information interaction amount between the intelligent agents, simultaneously reduces the execution frequency of the controller and quickens the control efficiency of the consistency of the intelligent agents of the event driving strategy.
2. The invention is an improved event trigger mechanism, in the mechanism, the event judgment only depends on the measurement state of the neighbor node instead of the real-time state, thus the driving update times and the communication load are further reduced compared with the prior event trigger mechanism.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a flow chart of the feasibility control of the event-driven control strategy on the consistency problem of the second-order multi-agent system with directed topology in the method of the present invention;
FIG. 3 is a flow chart of the effectiveness control of the event-driven control method in the method of the present invention on the consistency problem of a multi-agent system with nonlinear dynamics.
Detailed Description
The invention is further elucidated with reference to the accompanying drawings.
As shown in FIG. 1, the multi-agent consistency control method of the event-driven strategy of the present invention comprises the following steps:
s1) designing an original control function of the event-driven strategy for the multi-agent system;
s2) designing an information transmission instruction between intelligent controllers based on the original control function form;
s3) for the original control function and the information transmission instruction under the event-driven control strategy, improving the control function on the basis of the consistency problem of the second-order multi-agent with directed topology, and carrying out feasibility analysis;
s4) expanding the control function and the transmission instruction to a multi-agent system with nonlinear dynamics for effectiveness analysis;
s5) designing a self-adaptive method by using the states of the agent and its neighbors at the event triggering moment, and respectively allocating a time-varying weight self-adaptive method for the edge self-adaptive method and the node in the system topology;
s6) under signal transmission between the intelligent controllers, the consistency control of the multi-agent is completed through the driving function of the event-driven strategy.
As shown in fig. 2, step S1), the original control function for designing the event-driven strategy for the multi-agent system is:
s101) designing a centralized event driving function as an original driving function form;
s102) designing a distributed event-driven function for each agent in the multi-agent system;
s103) improving the distributed event-driven function to depend only on the state of the neighbor agent at the event time.
Feasibility analysis in step S3) was:
s301), designing a centralized event-driven function, providing a criterion for realizing consistency of a second-order multi-agent system with directed topology by using a Lyapunov function method, and providing a design method of consistency control algorithm parameters;
s302) designing a distributed event driving function for each intelligent agent in the multi-intelligent-agent system, so that the driving function only needs to utilize state information of neighbors but not information of all intelligent agents in the system, and designing a proper Lyapunov function for providing a sufficient condition that a second-order multi-intelligent-agent system realizes consistency under the control of the driving function;
s303) in order to further reduce the communication times among the agents, a distributed event driving function is improved to be only dependent on the state of the neighbor agent at the event moment, under the three driving functions, the time interval between any two events has a positive lower bound, and infinite aggregation of the events in a limited time period is eliminated.
Step S3), the specific protocol algorithm is as follows:
xi(t)＝Axi(t)+Bui(t)，i＝1，2…，N；
xi(t)∈Rnand ui(t)∈RpRespectively representing the status and control inputs of each agent; a is an element of Rn×pAnd B ∈ Rn×pIs a constant matrix;
for each agent i, the controller need only touch at the initial event firing time point, resulting in the following formula:
in the formula: k1，K2∈Rp×nIn order to control the gain matrix, the gain matrix is,
representing agents iThe events drive a time sequence.
As shown in fig. 3, the validity analysis in step S4) is:
s401) respectively designing a centralized driving function and a distributed driving function for a first-order multi-agent system and a second-order multi-agent system and a consistency control algorithm corresponding to the two driving methods and based on the event time state;
s402) providing a sufficient criterion for realizing consistency of the multi-agent system and a condition to be met by controlling algorithm parameters by designing a proper Lyapunov function method;
s403) finally excludes an infinite aggregation of events within a finite period of time by analyzing the time interval between events.
Step S5), the self-adaptive method for distributing time-varying weight at the edge and the self-adaptive method for distributing time-varying weight at the node in the system topology are combined with the distributed event-driven strategy, the parameters of the control algorithm and the state of the intelligent agent at the event moment are dynamically adjusted, the Lyapunov function method and the Barbalt' S theorem are utilized to provide the sufficient criterion for realizing the consistency of the systems under the two self-adaptive event-driven methods, and finally the time interval between any two events is proved to have a positive lower bound, thereby eliminating the infinite aggregation of the events in a limited period of time.
In the embodiment, a driving function is designed first, when the function meets a trigger condition, which is called that an event occurs, and only when the event occurs, the processor of the agent updates the control signal, in the event driving method, except that the processor of the agent updates the signal only at the event time, the signal is sampled and transmitted only at the event occurrence time; a Lyapunov function method is utilized to provide a criterion for realizing consistency of a first-order multi-agent system; and a distributed event-driven control strategy is introduced to realize distributed consistency control of the multi-agent system.
The method comprises the steps of firstly designing a centralized event-driven function, giving a criterion for realizing consistency of a second-order multi-agent system with directed topology by utilizing a Lyapunov function method, and simultaneously giving a design method of consistency control algorithm parameters; secondly, a distributed event driving function is designed for each intelligent agent in the multi-intelligent-agent system, so that the driving function only needs to utilize state information of neighbors rather than information of all intelligent agents in the system, and a proper Lyapunov function is designed for providing a sufficient condition that the second-order multi-intelligent-agent system realizes consistency under the control of the driving function; finally, in order to further reduce the number of communication times between agents, a distributed event-driven function is improved to be only dependent on the state of a neighbor agent at the event moment, under the three driving functions, the time interval between any two events has a positive lower bound, and infinite aggregation of the events in a limited period of time is eliminated.
Step S2), multi-agent controllers are designed, and communication transmission instructions among the multi-agent controllers are designed, so that the multi-agent controllers can carry out efficient information transmission.
In step S4), research and discussion are respectively performed on a first-order multi-agent system and a second-order multi-agent system having an undirected connected topology, two centralized and distributed driving functions and an event time state-based consistency control algorithm corresponding to the two driving methods are respectively designed for the first-order multi-agent system and the second-order multi-agent system, assuming that a nonlinear item in an agent dynamic state satisfies a Lipschitz condition, providing a sufficient criterion for the multi-agent system to achieve consistency and a condition that a control algorithm parameter needs to satisfy by designing a suitable lyapunov function method, and finally excluding infinite aggregation of events in a limited period by analyzing a time interval between events.
The algorithm of the invention has scientific and reasonable structure and safe and convenient use, further reduces the communication times among the intelligent agents by designing the centralized driving function related to the time index and the centralized driving function related to the state of the intelligent agents, improves the distributed driving function to avoid the continuous communication among the adjacent agents, reduces the communication frequency, reduces the information interaction quantity among the intelligent agents, simultaneously reduces the execution times of the controller, accelerates the control efficiency of the consistency of the intelligent agents of the event driving strategy, and the proposal is an improved event triggering mechanism, in the mechanism, the event judgment only depends on the measurement state of the adjacent nodes instead of the real-time state, thus leading the event triggering mechanism before the driving updating times and the communication load to be further reduced, and better solving the problem of continuous time feedback through the technical improvement, and the aim of reducing communication traffic is realized in traction consistency control of the multi-agent network.
Claims (2)
1. A multi-agent coherence control method of event-driven policy, characterized by comprising the steps of:
s1) designing an original control function of the event-driven strategy for the multi-agent system;
s2) designing an information transmission instruction between intelligent controllers based on the original control function form;
s3) for the original control function and the information transmission instruction under the event-driven control strategy, improving the control function on the basis of the consistency problem of the second-order multi-agent with directed topology, and carrying out feasibility analysis;
s4) expanding the control function and the transmission instruction to a multi-agent system with nonlinear dynamics for effectiveness analysis;
s5) designing a self-adaptive method by using the states of the agent and its neighbors at the event triggering moment, and respectively allocating a time-varying weight self-adaptive method for the edge self-adaptive method and the node in the system topology;
s6) under the signal transmission between the intelligent controllers, the consistency control of the multi-intelligent agent is completed through the driving function of the event driving strategy;
step S1), the original control function for the event-driven strategy designed for the multi-agent system is:
s101) designing a centralized event-driven function as an original drive function form;
s102) designing a distributed event-driven function for each agent in the multi-agent system;
s103) improving a distributed event-driven function to make the function only depend on the state of a neighbor agent at the event moment;
feasibility analysis in step S3) was:
s301), designing a centralized event-driven function, providing a criterion for realizing consistency of a second-order multi-agent system with directed topology by using a Lyapunov function method, and providing a design method of consistency control algorithm parameters;
s302) designing a distributed event driving function for each intelligent agent in the multi-intelligent-agent system, so that the driving function only needs to utilize state information of neighbors but not information of all intelligent agents in the system, and designing a proper Lyapunov function for providing a sufficient condition that a second-order multi-intelligent-agent system realizes consistency under the control of the driving function;
s303) in order to further reduce the communication times among the agents, a distributed event driving function is improved to make the distributed event driving function depend on the state of the neighbor agents at the event time, under the three driving functions, the time interval between any two events has a positive lower bound, and infinite aggregation of the events in a limited time period is eliminated;
the validity analysis in step S4) is:
s401) respectively designing a centralized driving function and a distributed driving function for a first-order multi-agent system and a second-order multi-agent system and a consistency control algorithm corresponding to the two driving methods and based on the event time state;
s402) providing a sufficient criterion for realizing consistency of the multi-agent system and a condition to be met by controlling algorithm parameters by designing a proper Lyapunov function method;
s403) finally excludes an infinite aggregation of events within a finite period of time by analyzing the time interval between events.
2. The method of event-driven strategic multi-agent consistency control as recited in claim 1, further comprising: step S5), the self-adaptive method for distributing time-varying weight at the edge and the self-adaptive method for distributing time-varying weight at the node in the system topology are combined with the distributed event-driven strategy, the parameters of the control algorithm and the state of the intelligent agent at the event moment are dynamically adjusted, the Lyapunov function method and the Barbalt' S theorem are utilized to provide the sufficient criterion for realizing the consistency of the systems under the two self-adaptive event-driven methods, and finally the time interval between any two events is proved to have a positive lower bound, thereby eliminating the infinite aggregation of the events in a limited period of time.
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