CN110597109B - Multi-agent consistency control method based on event triggering - Google Patents
Multi-agent consistency control method based on event triggering Download PDFInfo
- Publication number
- CN110597109B CN110597109B CN201910788559.8A CN201910788559A CN110597109B CN 110597109 B CN110597109 B CN 110597109B CN 201910788559 A CN201910788559 A CN 201910788559A CN 110597109 B CN110597109 B CN 110597109B
- Authority
- CN
- China
- Prior art keywords
- agent
- event
- communication
- matrix
- triggered
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Multi Processors (AREA)
- Feedback Control In General (AREA)
Abstract
The invention relates to a multi-agent consistency control method based on event triggering, which comprises the following steps: establishing a general linear multi-agent dynamic model, and designing a distributed controller according to the information of agent nodes and the information of neighbor agent nodes to ensure the consistency of the multi-agent; communication strategies based on event triggering are designed to ensure that communication between agents is intermittent. The invention realizes the consistency control of the multi-agent system, solves the problem of larger network communication load caused by continuous information exchange between agents, reduces the updating load of a system controller and prolongs the service life of the agent system.
Description
Technical Field
The invention belongs to the technical field of intelligent cooperative control, and particularly relates to a multi-agent consistency control method based on event triggering.
Background
Cooperative consistency control among multiple agents is a basic problem of intelligent cooperative control neighborhood. By realizing multi-agent consistency control, complex cooperative tasks such as distributed optimization, distributed formation, distributed filtering and the like can be completed. By triggering the cooperative control algorithm through events among the agents, the cooperative capability among the agents can be effectively improved, and the energy consumption of the multi-agent system is reduced.
The distributed control method is used for multi-agent consistency control, so that the use of global information can be better avoided, the stability and the robustness of intelligent agent cooperative control are improved, and the distributed control method is widely applied to the consistency problem of a large-scale intelligent agent system. Agent consistency control is enormous in terms of energy consumed by communication, and frequent data communication between existing agents causes a lot of unnecessary data transmission, resulting in waste of resources. Therefore, an event trigger mechanism is introduced, so that the communication load among the intelligent agents can be reduced; meanwhile, the controller is continuously updated, so that the updating load of the controller is increased, and the service life of the intelligent system is shortened.
Disclosure of Invention
The invention aims to provide a multi-agent consistency control method based on event triggering, which realizes the consistency control of multi-agents through a distributed controller under the framework of a system formed by the multi-agents, introduces an event triggering mechanism to reduce the communication load and the updating times of the controller and improves the utilization rate of system resources.
In order to achieve the purpose, the invention adopts the technical scheme that:
a multi-agent consistency control method based on event triggering, comprising:
s1, establishing a general linear multi-agent dynamic model, and designing a distributed controller according to the information of agent nodes and the information of neighbor agent nodes to ensure the consistency of the multi-agent;
and S2, designing a communication strategy based on event triggering to ensure that the communication between the intelligent agents is discontinuous.
Preferably, in S1: establishing a general linear multi-agent dynamic model comprises the following steps: assuming that there are N agents, then the ith agent dynamics model is:
wherein: x is the number ofi(t)∈Rn,ui(t)∈RmRepresenting state and control inputs of agents, A ∈ R, respectivelyn×n,B∈Rn×mIs a constant system matrix.
Further preferably, when ensuring the multi-agent coherence, for any initial state:
preferably, in S1: the communication network of the agent is a directed strong connection graph, and the geometric connection degree a (L) of the directed strong connection graph is defined as follows:
the geometric connectivity is calculated according to the following formula:
Further preferably, in S2: designing an event trigger-based communication strategy, comprising:
Wherein:is a communication time sequence of agents i, determined by a communication event triggered control strategy, each agent i defining variables to design the communication event triggered control strategy, i 1.
defining a communication state measurement error ei(t),
The event-triggered control strategy for communication is designed as follows:
wherein: c. Ci1> 0 is the control parameter to be designed.
Further preferably, the controller update strategy triggered by the agent event includes:
wherein:is the update time sequence of the controller, which is determined by the introduced event trigger mechanism,
according to the event-triggered control mechanism, the controller of agent i is designed to:
wherein: matrix K is a state feedback matrix, c > 0 is a coupling gain,
in the event trigger system (3), (4) and (5), the control parameters are selected as follows:
PA+ATP-cμPBBTp ═ Q, (6) wherein: matrix Q is a negative definite matrix, 0 < mu. ltoreq. a (L),
the mathematical notation defining the following determines the control parameters, the matrix:
wherein: c. Ci1>0,ci2Is greater than 0, and satisfies:
preferably, said constant system matrix (a, B) is assumed to be stable.
Preferably: in S1: the generally linear multi-agent dynamics model includes a second order model.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages and effects:
the invention realizes the consistency control of the multi-agent system, solves the problem of larger network communication load caused by continuous information exchange between agents, reduces the updating load of a system controller and prolongs the service life of the agent system.
Drawings
FIG. 1 is a diagram of a multi-agent communication topology in this embodiment;
FIG. 2 is a diagram illustrating the state response of the multi-agent in the control algorithm in this embodiment;
figure 3 shows the communication and controller update times and time intervals for agent number 1 under the control algorithm.
Detailed Description
The invention is further described below with reference to the accompanying drawings and embodiments:
a multi-agent consistency control method based on event triggering, comprising:
s1, establishing a general linear multi-agent dynamic model, and designing a distributed controller through the information of an agent node and the information of a neighbor agent node (through a communication network protocol) to ensure the consistency of the multi-agent.
Establishing a general linear multi-agent dynamic model comprises the following steps: assuming that there are N agents, then the ith agent dynamics model is:
wherein: xi(t)∈Rn,ui(t)∈RmRespectively representing the state of the agent and the control input,
A∈Rn×n,B∈Rn×mis a constant system matrix. In this embodiment: the general linear multi-agent dynamics model comprises a second order model, and the constant system matrices (a, B) are assumed to be stable.
The distributed control strategy designed in this embodiment ensures that the intelligent system implementation is consistent, i.e. for any initial state:
the communication network of the agent is a directed strong connection graph, and the geometric connection degree a (L) of the directed strong connection graph is defined as follows:
the geometric connectivity is calculated according to the following formula:
whereinAnd S2, designing a communication strategy based on event triggering to ensure that the communication between the intelligent agents is discontinuous.
Designing an event-triggered communication strategy between agents, comprising:
Wherein:is a communication time sequence of agents i, determined by a communication event triggered control strategy, each agent i defining variables to design the communication event triggered control strategy, i 1.
Wherein:ni is the set of neighbor agents for agent i because the state is estimatedOnly the actual state values at the moment of communication are utilized and therefore there is no need to continuously communicate with the neighbour agent to form the state threshold.
Defining a communication state measurement error ei(t),
The event-triggered control strategy for communication is designed as follows:
wherein: c. Ci1> 0 is the control parameter to be designed.
The event trigger mechanism (3) is designed to get rid of the dependence on continuous communication between the intelligent agents, so that a large amount of communication energy is saved.
An agent event triggered controller update policy comprising:
wherein:is the update time sequence of the controller, which is determined by the introduced event trigger mechanism,
According to the event-triggered control mechanism, the controller of agent i is designed to:
wherein: matrix K is a state feedback matrix, c > 0 is a coupling gain,
in the event trigger mechanism systems (3), (4) and (5), the intelligent agent finally achieves consistent state through the communication of local discontinuous information. The control parameters are selected as follows:
PA+ATP-cμPBBTP=Q,, (6)
wherein: matrix Q is a negative definite matrix, 0 < mu. ltoreq. a (L),
the mathematical notation defining the following determines the control parameters, the matrix:
wherein: c. Ci1>0,ci2Is greater than 0, and satisfies:
in this embodiment, the system matrix is as follows:
The system state can be written as:wherein:respectively, represent the velocity in the X-Y-Z direction.Respectively, represent the distances in the X-Y-Z direction from the target point. A communication network consisting of six agents, as shown in figure 1.
The specific parameters are selected as the geometric connectivity a (L) 0.7939, Q-4I of the communication network6,
ξ=[0.25000.10710.10710.21430.17860.1429]Feedback matrix:the matrix P is an algebraic Riccati equation positive solution matrix. It can be seen from fig. 2 that the speeds of the agents tend to be consistent and the positions reach the specified positions individually, i.e. the algorithm can achieve consistent control. The communication time and controller update time of agent numbered 1, and the time interval between adjacent trigger times are presented as in fig. 3. Thus, the control algorithm can ensure that communication between agents and controller updates are intermittent.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (7)
1. A multi-agent consistency control method based on event triggering is characterized in that: the method comprises the following steps:
s1, establishing a general linear multi-agent dynamic model, designing a distributed controller through the information of agent nodes and the information of neighbor agent nodes to ensure the consistency of the multi-agents, wherein the communication network of the agents is a directed strong connection graph, and the geometric connectivity a (L) of the directed strong connection graph is defined as follows:
the geometric connectivity is calculated according to the following formula:
And S2, designing a communication strategy based on event triggering to ensure that the communication between the intelligent agents is discontinuous.
2. The event-triggered multi-agent consistency control method as claimed in claim 1, wherein: in S1: establishing a general linear multi-agent dynamic model comprises the following steps: assuming that there are N agents, then the ith agent dynamics model is:
wherein: x is the number ofi(t)∈Rn,ui(t)∈RmRepresenting state and control inputs of agents, respectively, A ∈ En×n,B∈Rn×mIs a constant system matrix.
4. the event-triggered multi-agent consistency control method as claimed in claim 2, wherein: in S2: designing an event trigger-based communication strategy, comprising:
Wherein:is a communication time sequence of agents i, determined by a communication event triggered control strategy, each agent i defining variables to design the communication event triggered control strategy, i 1.
defining a communication state measurement error ei(t),
The event-triggered control strategy for communication is designed as follows:
wherein: c. Ci1> 0 is the control parameter to be designed.
5. The event-triggered multi-agent consistency control method as claimed in claim 4, wherein: an agent event triggered controller update policy comprising:
wherein:is the update time sequence of the controller, which is determined by the introduced event trigger mechanism,
according to the event-triggered control mechanism, the controller of agent i is designed to:
wherein: matrix K is a state feedback matrix, c > 0 is a coupling gain,
in the event trigger system (3), (4) and (5), the control parameters are selected as follows:
PA+ATP-cμPBBTP=Q, (6)
wherein: matrix Q is a negative definite matrix, 0 < mu. ltoreq. a (L),
the mathematical notation defining the following determines the control parameters, the matrix:
wherein: c. Ci1>0,ci2Is greater than 0, and satisfies:
6. the event-triggered multi-agent consistency control method as claimed in claim 2, wherein: the constant system matrix (a, B) is assumed to be stable.
7. The event-triggered multi-agent consistency control method as claimed in claim 1, wherein: in S1: the generally linear multi-agent dynamics model includes a second order model.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910788559.8A CN110597109B (en) | 2019-08-26 | 2019-08-26 | Multi-agent consistency control method based on event triggering |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910788559.8A CN110597109B (en) | 2019-08-26 | 2019-08-26 | Multi-agent consistency control method based on event triggering |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110597109A CN110597109A (en) | 2019-12-20 |
CN110597109B true CN110597109B (en) | 2020-10-02 |
Family
ID=68855499
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910788559.8A Active CN110597109B (en) | 2019-08-26 | 2019-08-26 | Multi-agent consistency control method based on event triggering |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN110597109B (en) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111216146B (en) * | 2020-01-20 | 2021-05-28 | 中国地质大学(武汉) | Two-part consistency quantitative control method suitable for networked robot system |
CN111522361B (en) * | 2020-05-27 | 2021-07-27 | 北京理工大学 | Multi-unmanned aerial vehicle formation consistency control method in master-slave mode |
CN111781826B (en) * | 2020-05-29 | 2022-11-01 | 长春工业大学 | Heterogeneous multi-agent output feedback tracking control method based on iterative algorithm |
CN112180734B (en) * | 2020-10-15 | 2022-06-10 | 杭州电子科技大学 | Multi-agent consistency method based on distributed adaptive event triggering |
CN112363392B (en) * | 2020-11-16 | 2022-05-24 | 湘潭大学 | Multi-agent grouping consistency control method with unknown first-class model |
CN113377552B (en) * | 2021-05-17 | 2023-01-10 | 山东科技大学 | Multi-agent system consistency method, storage medium and computer |
CN113515066B (en) * | 2021-05-17 | 2023-04-21 | 北京科技大学 | Nonlinear multi-intelligent system dynamic event trigger control method |
CN113534664B (en) * | 2021-07-20 | 2024-04-16 | 北京理工大学 | Multi-agent system event trigger control method based on closed-loop state estimation |
CN114296342B (en) * | 2021-11-11 | 2022-11-08 | 电子科技大学 | Consistency control method for distributed dynamic event-triggered multi-agent system |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108829065A (en) * | 2018-07-16 | 2018-11-16 | 东北大学 | Distributed generation system time lag based on event triggering exports cooperative control method |
CN109491249A (en) * | 2018-11-30 | 2019-03-19 | 沈阳航空航天大学 | It is a kind of that there are the design methods of multi-agent system event trigger controller when DoS attack |
CN109507880A (en) * | 2018-10-17 | 2019-03-22 | 东北大学 | A kind of multiple agent consistency control method of event-driven strategy |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20110010219A1 (en) * | 2009-07-10 | 2011-01-13 | Iex Corporation | Method and system for determining adherence to a workflow |
CN105847438B (en) * | 2016-05-26 | 2019-01-25 | 重庆大学 | Multiple agent consistency control method based on event triggering |
-
2019
- 2019-08-26 CN CN201910788559.8A patent/CN110597109B/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108829065A (en) * | 2018-07-16 | 2018-11-16 | 东北大学 | Distributed generation system time lag based on event triggering exports cooperative control method |
CN109507880A (en) * | 2018-10-17 | 2019-03-22 | 东北大学 | A kind of multiple agent consistency control method of event-driven strategy |
CN109491249A (en) * | 2018-11-30 | 2019-03-19 | 沈阳航空航天大学 | It is a kind of that there are the design methods of multi-agent system event trigger controller when DoS attack |
Non-Patent Citations (1)
Title |
---|
多智能体事件触发一致性的输入时间延迟边界;吴永辉;《中国优秀硕士学位论文全文数据库信息科技辑》;20190115(第1期);I140-162 * |
Also Published As
Publication number | Publication date |
---|---|
CN110597109A (en) | 2019-12-20 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN110597109B (en) | Multi-agent consistency control method based on event triggering | |
CN109507880B (en) | Multi-agent consistency control method of event-driven strategy | |
CN113110039B (en) | Finite time distributed aggregation optimization method of multi-agent system | |
CN110109351A (en) | A kind of multiple agent consistency control method based on specified performance | |
CN112698634B (en) | Event trigger-based traffic intelligent system fixed time dichotomy consistency method | |
CN113589694B (en) | Fully distributed anti-saturation tracking control method for heterogeneous multi-agent system | |
CN111414575A (en) | Distributed generalized tracking method of multi-agent system based on symbolic function | |
CN113268083B (en) | Multi-unmanned aerial vehicle system formation tracking control method based on dynamic event triggering | |
CN113625559B (en) | Multi-agent system cooperative control method based on appointed time convergence | |
CN112311589B (en) | Grouping consistency control method of multi-agent under Markov switching topology | |
CN109818792B (en) | Controller based on second-order linear system time-varying coupling complex dynamic network model | |
CN108037659A (en) | Based on event driven time-varying coupling complex dynamic network synchronous method | |
CN118170034B (en) | Method for controlling mean square consistency of heterogeneous multi-agent system with communication packet loss | |
CN117762014A (en) | Finite time cooperative control method adopting distributed event trigger control | |
CN112363392B (en) | Multi-agent grouping consistency control method with unknown first-class model | |
CN117806164A (en) | Self-adaptive consistency control method of multi-spacecraft formation system based on dynamic event triggering under DoS attack | |
CN116794987A (en) | Heterogeneous multi-agent system consistency control method based on event trigger control | |
CN116088317A (en) | Multi-agent consistency control method based on dynamic event triggering | |
CN115657722A (en) | Intelligent unmanned cluster system consistency formation control method based on event trigger pulse control | |
CN113341729A (en) | Fixed time consistency control method for multi-agent system | |
CN113110113B (en) | Method for realizing grouping consistency of discrete multi-agent system with communication constraint | |
CN115401691A (en) | Consistency tracking finite time control method for multi-single-connecting-rod mechanical arm | |
CN114185273A (en) | Design method of distributed preposed time consistency controller under saturation limitation | |
Shi et al. | Consensus of first-order multi-agent systems under event-triggered communication | |
Liu et al. | Area: an automatic runtime evolutionary adaptation mechanism for creating self-adaptation algorithms in wireless networks |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |