CN110442022A - Grouping consistency control method with time lag isomery multi-agent system - Google Patents
Grouping consistency control method with time lag isomery multi-agent system Download PDFInfo
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Abstract
The invention discloses a kind of grouping consistency control methods of isomery multi-agent system with any bounded time lag, construct the mathematical model of first-order system and second-order system, determine multi-agent system topological structure, utilize its topological relation of graph theory knowledge description；The control protocol of isomery multi-agent system of the design with time lag；Using the consistency problem of matrix theory and the property analysis system of nonnegative matrix, system convergence condition is obtained；It is determined for compliance with the control protocol zooming parameter of system convergence condition, substitutes into system control protocol, realizes the grouping consistency control of system.The present invention provides a kind of grouping consistency control method of isomery multi-agent system with any bounded time lag, it solves global control problem by the method for distributed AC servo system, the global information of system is not needed, the joint connection of system topological figure is required nothing more than simultaneously, it is all connected graph without its subgraph, the robustness for improving system, suitable for the isomery multi-agent system grouping consistency control with any bounded time lag.
Description
Technical field
The invention belongs to field of intelligent control.It is more particularly related to which a kind of have time lag isomery multiple agent
The grouping consistency control method of system.
Background technique
The distributed and coordinated control of multi-agent system is since it is in formation control, clustered control and in terms of swarm
Extensive use and obtained extensive concern.Centerized fusion is in contrast to distributed AC servo system, it is desirable that each node can have one
A network communication for having excellent connection with central controller, but due to the influence of the factors such as communication delay in practical application,
Centerized fusion is often difficult to realize scheduled control effect well, and due to Single Point of Faliure that may be present, centralization
It is higher to control broken down likelihood ratio distributed AC servo system.Distributed AC servo system reduce in centerized fusion central controller and
The influence of the communication delay of each node enables a system to the running environment for adapting to dynamic change, reduce to global communication according to
Rely, improves the serious forgiveness and robustness of system.
Consistency problem is the friendship of control system theory and graph theory as most basic one of distributed and coordinated control problem
Fork field, it is to be related to a series of intelligent bodies to reach the process of common objective with sharing by information exchange.What consistency referred to
It is that each state of multiagent system finally at a time all levels off to the same value over time, this state can
To be the athletic posture of satellite, the shoal of fish or the filter value of the route of flock of birds, data fusion or distributed sensor.
Currently, the research of consistency problem, main achievement concentrates on first-order system, second-order system, high order system and isomery
The harmonious property of system controls.With being continuously increased for system complexity and scale, according to environment, the practical need of task dispatching
It wants, it is desirable that when multiple intelligent body distributed coordinations complete multiple and different tasks, can then exist in multi-agent system many different
Consistent state, and the grouping consistency control method research for isomery multi-agent system is less, such as patent name is non-
The optimal consistency control method of linear multi-agent system, although and research isomery multiple agent, it is studied
Only common consistency control.
Meanwhile the consistency problem about the grouping of isomery multiple agent, main research concentrate on fixation and open up in the prior art
The grouping consistency control of no time lag system is flutterred, however in practical applications, due to the limitation and environmental factor of communication bandwidth
It interferes, the information exchange between each intelligent body often has delay, and network topology structure also can constantly change between each intelligent body.
It therefore, is still to be worth the important directions of research for the grouping consistency of the isomery multi-agent system with time lag.
Summary of the invention
It is excellent it is an object of the invention to solve at least the above problems and/or defect, and provide at least to will be described later
Point.
The grouping consistency control with time lag isomery multi-agent system that it is a still further object of the present invention to provide a kind of
The case where method product is to being grouped consistency control, and having communication delay mainly for system more meets practical logical
Believe environment.
In order to realize these purposes and other advantages according to the present invention, provide a kind of with time lag isomery multiple agent
The grouping consistency control method of system, comprising:
Step 1 by establishing the topological structure of isomery multi-agent system, and then determines system control with matching
Agreement processed；
Step 2 determines the zooming parameter of control protocol, realizes the grouping consistency control of system.
Preferably, wherein the step 1 is configured to include:
S11 constructs the Controlling model of first-order system and second-order system, determines multi-agent system topological structure, utilize figure
By its topological relation of knowledge description；
S12, the control protocol of isomery multi-agent system of the design with time lag.
Preferably, wherein the step 2 is configured to include:
S21 obtains system convergence condition using the consistency problem of matrix theory and the property analysis system of nonnegative matrix；
S22 is determined for compliance with the control protocol zooming parameter of system convergence condition, substitutes into system control protocol, realizes system
Grouping consistency control.
Preferably, wherein in S11, the mathematical description of the single order and second-order system Controlling model is as follows:
Wherein, l1={ 1,2 ... m }, l2={ m+1, m+2 ... n }, xiWithRespectively indicate single order intelligent body i
Location information and control input；xi、viWithRespectively indicate location information, the velocity information of second order intelligent body i with
And control input.
Preferably, wherein in S12, the control protocol of the isomery multi-agent system with time lag is as follows:
Wherein, k1, k2, k3, α1, α2Represent the zooming parameter of system；aijRepresent the side e of intelligent body j to intelligent body ijiPower
Value, if ejiIn the presence of then aij> 0, on the contrary then aij=0；τij>=0 representative is relevant logical to the information flow of intelligent body i from intelligent body j
Letter delay.
Preferably, wherein in S21, the adequate condition of the system convergence is as follows:
k1> 0, k2> 0, k3> 0, α1> 0, α2> 0
Also, the topological structure of system has spanning tree, any bounded of communication delay.Wherein, NiRepresent the neighbour of intelligent body i
Occupy set, α1And α2Ratio determine stablize after single order multiple agent and second order multiple agent location information ratio.
Preferably, wherein in S22, the zooming parameter of the determining system control protocol is realized and has any bounded
Time lag isomery multi-agent system grouping consistency control, and be directed to system topology dynamic change when, require nothing more than and open up
Figure joint connection is flutterred, is all connected graph without its each subgraph.
The present invention is include at least the following beneficial effects: the present invention is asked for the grouping consistency control of isomery multi-agent system
Topic, gives the adequate condition of system convergence.The prior art there is no for the isomery multiple agent grouping one with communication delay
Cause property control method, and mostly be directed to fixed topology system, but due in practical application the limitation of communication bandwidth and
Unavoidably there is communication delay in the restriction of environmental factor, system, system network topology also can dynamic change.Solution of the present invention
It has determined influence of the communication delay to system convergence, as long as and showing that system communication time lag is any bounded and its topology knot
Structure joint connection, then it does not have an impact to whether system restrains, it is apparent that will affect system for different communication delays
Convergence rate.Finally, the ratio of the location information of single order multiple agent and second order multiple agent after stablizing can be according to the present invention
The ratio of corresponding zooming parameter in the control protocol of design determines.
Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Detailed description of the invention
Fig. 1 is that isomery multi-agent system is grouped consistency control method flow chart in the present invention；
Fig. 2 is isomery multi-agent system topology diagram in the present invention；
Fig. 3 is each intelligent body location track figure in the present invention；
Fig. 4 is second order intelligent body speed trajectory figure in the present invention.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other elements or combinations thereof.
A kind of realization shape of grouping consistency control method with time lag isomery multi-agent system according to the present invention
Formula, including:
S11 constructs the Controlling model of first-order system and second-order system, determines multi-agent system topological structure, utilize figure
By its topological relation of knowledge description；
Establish the isomery multi-agent system Controlling model being made of first-order system and second-order system, the control of intelligent body i
Model is described as follows:
Wherein, l1={ 1,2 ... m }, l2={ m+1, m+2 ... n }, xiWithRespectively indicate single order intelligent body i
Location information and control input；xi、viWithRespectively indicate location information, the velocity information of second order intelligent body i with
And control input；
S12, the control protocol of isomery multi-agent system of the design with time lag；
For system, there are communication delay situations, design following control protocol:
Wherein, k1, k2, k3, α1, α2Represent the zooming parameter of system；aijRepresent the side e of intelligent body j to intelligent body ijiPower
Value, if ejiIn the presence of then aij> 0, on the contrary then aij=0；τij>=0 representative is relevant logical to the information flow of intelligent body i from intelligent body j
Letter delay；
S21 obtains system convergence condition using the consistency problem of matrix theory and the property analysis system of nonnegative matrix；
Model variation is carried out to isomery multi-agent system using matrix theory knowledge, is converted grouping consistency problem to general
Logical consistency control problem, and as follows using the condition of convergence of the property analysis system of nonnegative matrix:
k1> 0, k2> 0, k3> 0, α1> 0, α2> 0
Also, the topological structure of system has spanning tree, any bounded of communication delay.Wherein, NiRepresent the neighbour of intelligent body i
Occupy set, α1And α2Ratio determine stablize after single order multiple agent and second order multiple agent location information ratio.
S22 is determined for compliance with the control protocol zooming parameter of system convergence condition, substitutes into system control protocol, realizes system
Grouping consistency control；
Wherein, the zooming parameter of the determining system control protocol realizes that how intelligent the isomery with any bounded time lag is
Body nested design consistency control, and be directed to system topology dynamic change when, require nothing more than topological diagram joint connection, without
Needing its each subgraph is all connected graph.
The control protocol provided using this scheme, the final grouping consistency control for realizing system, i.e.,
In order to verify effectiveness of the invention, this part carries out simulating, verifying based on the topological structure of attached drawing 2.Assuming that more intelligence
Energy system system is made of 2 single order intelligent bodies and 3 second order intelligent bodies, as shown in Fig. 2, 1,2 be single order intelligent body, 3,4,5 are
Second order intelligent body.
Assuming that adjacency matrix weight aijIf meeting the side e of intelligent body j to intelligent body ijiIn the presence of then aij=1；Otherwise aij=
0.Therefore, system adjacency matrix is as follows:
In this value k1=k2=1, k3=3, α1=1, α2=2, meet condition of convergence k1> 0, k2> 0, k3> 0, α1> 0,
α2> 0,
By attached drawing 2 it is found that the topological structure of system there are spanning trees.
Enable τ15=3, τ51=5, τ23=1, τ32=2, τ34=8, τ43=6, τ45=4, τ54=7, each intelligence body position is initial
Value x (0)=[x1(0), x2(0), x3(0), x4(0), x5(0)]=[Isosorbide-5-Nitrae, -3,3,2], each intelligent body velocity original value v (0)=
[v3(0), v4(0), v5(0)]=[1,0, -1].
In conjunction with attached topological structure shown in Fig. 2 and above-mentioned primary condition, simulation result is as shown in attached drawing 3 and attached drawing 4.
It can be seen that from attached drawing 3 and attached simulation result illustrated in fig. 4 and to be made of single order intelligent body and second order intelligent body
Isomery multi-agent system can be realized the control to grouping consistency after meeting the condition of convergence that the invention patent provides.
This programme is for studying grouping consistency control, and research point does not lie in the performance (such as convergence rate) of research system convergence,
And be to study its convergence function (can restrain), therefore its control protocol and final control effect are and in the prior art to general
The research of logical consistency is different, and scheme have been directed to the case where system is with communication delay, more meet practical communication environment；
In addition, with existing technical research heterogeneous system, research grouping consistency compared with, this programme mainly for
Due to the interference of the limitation of communication bandwidth and environmental factor in practical application, often system is there are time lag and topological structure is understood in fact
Shi Bianhua, and this programme fully considers these problems, and global control is targetedly solved by the method for distributed AC servo system
Problem, does not need the global information of system, while requiring nothing more than the joint connection of system topological figure, is all connection without its subgraph
Figure, improves the robustness of system, controls suitable for the isomery multi-agent system grouping consistency with any bounded time lag,
Also, this mode is a kind of explanation of preferred embodiments, and however, it is not limited to this.It in carrying out the present invention, can be according to making
User's demand carries out replacement and/or modification appropriate.
Number of devices and treatment scale described herein are for simplifying explanation of the invention.Sometimes to band of the invention
The application of the grouping consistency control method of stagnant isomery multi-agent system, modifications and variations are to one skilled in the art
It is obvious.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With.It can be applied to various suitable the field of the invention completely.It for those skilled in the art, can be easily
Realize other modification.Therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (7)
1. a kind of grouping consistency control method with time lag isomery multi-agent system characterized by comprising step
One, by establishing the topological structure of isomery multi-agent system, and then determine system control protocol with matching；
Step 2 determines the zooming parameter of control protocol, realizes the grouping consistency control of system.
2. having the grouping consistency control method of time lag isomery multi-agent system as described in claim 1, feature exists
In the step 1 is configured to include:
S11 is constructed the Controlling model of first-order system and second-order system, determines multi-agent system topological structure, known using graph theory
Know and describes its topological relation；
S12, the control protocol of isomery multi-agent system of the design with time lag.
3. having the grouping consistency control method of time lag isomery multi-agent system as described in claim 1, feature exists
In the step 2 is configured to include:
S21 obtains system convergence condition using the consistency problem of matrix theory and the property analysis system of nonnegative matrix；
S22 is determined for compliance with the control protocol zooming parameter of system convergence condition, substitutes into system control protocol, realizes point of system
Group consistency control.
4. having the grouping consistency control method of time lag isomery multi-agent system as claimed in claim 2, feature exists
In in S11, the mathematical description of the single order and second-order system Controlling model is as follows:
Wherein, l1={ 1,2 ... m }, l2={ m+1, m+2 ... n }, xiWithRespectively indicate the position of single order intelligent body i
Confidence breath and control input；xi、viWithRespectively indicate location information, velocity information and the control of second order intelligent body i
System input.
5. having the grouping consistency control method of time lag isomery multi-agent system as claimed in claim 2, feature exists
In in S12, the control protocol of the isomery multi-agent system with time lag is as follows:
Wherein, k1,k2,k3,α1,α2Represent the zooming parameter of system；aijRepresent the side e of intelligent body j to intelligent body ijiWeight,
If ejiIn the presence of then aij> 0, on the contrary then aij=0；τij>=0 representative is prolonged from intelligent body j to the relevant communication of the information flow of intelligent body i
Late.
6. having the grouping consistency control method of time lag isomery multi-agent system as claimed in claim 3, feature exists
In in S21, the adequate condition of the system convergence is as follows:
k1> 0, k2> 0, k3> 0, α1> 0, α2> 0
Also, the topological structure of system has spanning tree, any bounded of communication delay.Wherein, NiRepresent neighbours' collection of intelligent body i
It closes, α1And α2Ratio determine stablize after single order multiple agent and second order multiple agent location information ratio.
7. having the grouping consistency control method of time lag isomery multi-agent system as claimed in claim 3, feature exists
In in S22, the zooming parameter of the determining system control protocol realizes the isomery multiple agent for having any bounded time lag
Nested design consistency control, and be directed to system topology dynamic change when, require nothing more than topological diagram joint connection, without
Wanting its each subgraph is all connected graph.
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| CN111781822A (en) * | 2020-07-09 | 2020-10-16 | 重庆邮电大学 | Privacy protection grouping consistency control method of multi-agent system |
| CN112311589A (en) * | 2020-09-09 | 2021-02-02 | 重庆邮电大学 | Grouping consistency control method of multi-agent under Markov switching topology |
| CN112363392A (en) * | 2020-11-16 | 2021-02-12 | 湘潭大学 | Multi-agent grouping consistency control method with unknown first-class model |
| CN112486114A (en) * | 2020-11-23 | 2021-03-12 | 哈尔滨理工大学 | Prediction-based actuator saturation multi-agent global consistency method |
| CN112637120A (en) * | 2020-11-16 | 2021-04-09 | 鹏城实验室 | Multi-agent system consistency control method, terminal and storage medium |
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| CN113359474A (en) * | 2021-07-06 | 2021-09-07 | 杭州电子科技大学 | Extensible distributed multi-agent consistency control method based on gradient feedback |
| CN114706359A (en) * | 2022-06-06 | 2022-07-05 | 齐鲁工业大学 | Agricultural multi-agent system consistency distributed control method based on sampling data |
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| CN111339473A (en) * | 2019-12-10 | 2020-06-26 | 南京理工大学 | Balance point control method of first-order discrete multi-agent system |
| CN111781822B (en) * | 2020-07-09 | 2022-02-22 | 重庆邮电大学 | Privacy protection grouping consistency control method of multi-agent system |
| CN111781822A (en) * | 2020-07-09 | 2020-10-16 | 重庆邮电大学 | Privacy protection grouping consistency control method of multi-agent system |
| CN112311589A (en) * | 2020-09-09 | 2021-02-02 | 重庆邮电大学 | Grouping consistency control method of multi-agent under Markov switching topology |
| CN112311589B (en) * | 2020-09-09 | 2022-04-05 | 重庆邮电大学 | Grouping consistency control method of multi-agent under Markov switching topology |
| CN112363392A (en) * | 2020-11-16 | 2021-02-12 | 湘潭大学 | Multi-agent grouping consistency control method with unknown first-class model |
| CN112637120A (en) * | 2020-11-16 | 2021-04-09 | 鹏城实验室 | Multi-agent system consistency control method, terminal and storage medium |
| CN112363392B (en) * | 2020-11-16 | 2022-05-24 | 湘潭大学 | Multi-agent grouping consistency control method with unknown first-class model |
| CN112486114A (en) * | 2020-11-23 | 2021-03-12 | 哈尔滨理工大学 | Prediction-based actuator saturation multi-agent global consistency method |
| CN113110058A (en) * | 2021-01-25 | 2021-07-13 | 华东交通大学 | Dichotomous practical consistency control method for multi-agent system with limited communication |
| CN113110058B (en) * | 2021-01-25 | 2022-06-17 | 华东交通大学 | Dichotomous practical consistency control method for multi-agent system with limited communication |
| CN113253611A (en) * | 2021-05-14 | 2021-08-13 | 哈尔滨理工大学 | Method for realizing consistency of multi-agent system with interference and time lag |
| CN113359474A (en) * | 2021-07-06 | 2021-09-07 | 杭州电子科技大学 | Extensible distributed multi-agent consistency control method based on gradient feedback |
| CN114706359A (en) * | 2022-06-06 | 2022-07-05 | 齐鲁工业大学 | Agricultural multi-agent system consistency distributed control method based on sampling data |
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