CN113259259A - Heterogeneous multi-agent system output consistency method with communication time delay - Google Patents

Heterogeneous multi-agent system output consistency method with communication time delay Download PDF

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CN113259259A
CN113259259A CN202110522422.5A CN202110522422A CN113259259A CN 113259259 A CN113259259 A CN 113259259A CN 202110522422 A CN202110522422 A CN 202110522422A CN 113259259 A CN113259259 A CN 113259259A
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leader
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CN113259259B (en
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谭冲
吕振武
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Harbin University of Science and Technology
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L47/00—Traffic control in data switching networks
    • H04L47/10—Flow control; Congestion control
    • H04L47/28—Flow control; Congestion control in relation to timing considerations
    • H04L47/283—Flow control; Congestion control in relation to timing considerations in response to processing delays, e.g. caused by jitter or round trip time [RTT]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/14—Network analysis or design
    • H04L41/147—Network analysis or design for predicting network behaviour
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract

A heterogeneous multi-agent system output consistency method with communication time delay belongs to the technical field of networked multi-agent systems. Aiming at the consistency and stability of leader follow-up output of a heterogeneous discrete time linear networked multi-agent system with communication delay, two network protocols are provided so as to obtain the state of a follower and achieve the consistency of output on the state of the leader under the switching topology, and meanwhile, the asymptotic stability of all main bodies is ensured. And provides a network prediction control method to achieve consistent output and compensate communication delay. Sufficient conditions for consistent and progressive stability of the leader can be achieved when at least one follower is connected to the leader by a directed edge. The state of the leader can be tracked by simulating the state of the follower, and under the theoretical result, the states of all the agents are gradually converged to be stable.

Description

Heterogeneous multi-agent system output consistency method with communication time delay
Technical Field
The invention relates to a heterogeneous multi-agent system output consistency method with communication time delay, and belongs to the technical field of networked multi-agent systems.
Background
The main research of the multi-agent system is the influence of interaction between agents and network topology on the system, wherein the leadership and following consistency of the multi-agent control system is always a hot topic, and the multi-agent system focuses on a group of multi-agents to reach a common state through communication with adjacent agents. It is known that some results of multi-agent leaders following output consistency have been widely applied in the field of control engineering, such as flocking, bee colony, formation flying of unmanned aerial vehicles, synchronization, etc.
Generally, a control protocol is designed by using delay data of a multi-agent system having a communication delay. However, outdated information does not accurately and efficiently describe the current state of the system. Therefore, when the control protocol is directly designed using outdated state information, network characteristics are completely ignored, network delay and packet loss limitation are passively allowed, and thus a good control effect on the controlled object cannot be achieved.
Disclosure of Invention
The technical problem solved by the invention is as follows: aiming at the problem of leader following output consistency of a heterogeneous multi-agent system with communication time delay under switching topology, a networked prediction method is provided to realize leader following output consistency of the heterogeneous multi-agent system with communication time delay.
In order to solve the above problems, the technical solution of the present invention is implemented as follows:
(1) establishing a dynamic model of the heterogeneous multi-agent system with communication time delay under switching topology;
(2) constructing a state observer aiming at a dynamic model of a heterogeneous multi-agent system with communication time delay under switching topology, and predicting the state;
(3) designing a control protocol aiming at leader following output consistency under switching topology;
(4) according to the leader follow-up output consistency control protocol designed in the third step, a compact expression of the linear system is obtained;
(5) the leadership following consistency of the heterogeneous multi-agent system with communication time delay under the switching topology is realized.
Further, the first step is:
considering the leader-following consistency of a multi-agent system of one leader and N followers, the dynamic model of the leader is described by the following system:
Figure BDA0003064487530000011
wherein the content of the first and second substances,
Figure BDA0003064487530000012
and
Figure BDA0003064487530000013
is the leader's state, control inputs and measurement outputs of the leader.
The kinetic model of the ith follower is described by the following system:
Figure BDA0003064487530000014
wherein the content of the first and second substances,
Figure BDA0003064487530000015
and
Figure BDA0003064487530000016
is the state of the ith follower, control input and measurement output;
Figure BDA0003064487530000017
and
Figure BDA0003064487530000018
is a known matrix; assuming that the state of all agents is not measurable, but the output is measurable, (A)i,Ci) Is detectable, i ═ 0,1, …, N.
Further, the second step is:
to estimate the state of the ith follower, the following state observer was designed to obtain forward prediction:
Figure BDA0003064487530000021
Figure BDA0003064487530000022
wherein
Figure BDA0003064487530000023
Defined as k-tau for the ith followeriTime information prediction k-tauiThe state at the moment +1 is,
Figure BDA0003064487530000024
is k-tauiThe output prediction of the time of day is,
Figure BDA0003064487530000025
is an observer matrix.
Using the information available at the controller side, the ith follower time k- τiThe +2 to time k state can be predicted by:
Figure BDA0003064487530000026
k-tau in (3)iIn place of the k-bit, k,
Figure BDA0003064487530000027
according to (2) and (5), for any initial condition xi(0) The error of the state estimate is:
ei(k+1)＝(Ai-LiCi)ei(k),i＝0,1,…,N (6)
wherein
Figure BDA0003064487530000028
Is the estimation error;
through iterative operation, the following results are obtained:
Figure BDA0003064487530000029
using the state prediction (4) recursively, the state prediction can be written as:
Figure BDA00030644875300000210
combining (3), (7) and (8) to obtain:
Figure BDA00030644875300000211
for tracking the required reference input u*The following states are introduced:
Figure BDA00030644875300000212
Figure BDA00030644875300000213
further, the third step is:
the method adopts a heterogeneous discrete time multi-agent system protocol based on predictive control to analyze consistency and stability, and solves the problem of leader following consistency when a follower receives information of a leader and a neighborhood follower with time delay and data packet loss; in order to compensate time delay and data packet loss caused by network initiative, the following protocol of multi-agent control based on predictive control is provided;
control protocol of follower:
Figure BDA00030644875300000214
from (12) can be obtained:
Figure BDA0003064487530000031
wherein
Figure BDA0003064487530000032
And
Figure BDA0003064487530000033
is the gain to be designedA matrix;
a control protocol for the leader is proposed:
Figure BDA0003064487530000034
from (14) can be obtained:
Figure BDA0003064487530000035
wherein
Figure BDA0003064487530000036
And
Figure BDA0003064487530000037
is the gain matrix to be designed, Δ ui(k)＝ui(k)-ui(k-1)，Δxi(k)＝xi(k)-xi(k-1)，Δzi(k)＝zi(k)-zi(k-1)，Δei(k)＝ei(k)-ei(k-1)。
Further, the fourth step is:
for (1) and (2) of the multi-agent network system, the control protocols (12) and (14) can solve the problem of leader follow consistency if the following conditions are satisfied:
1)
Figure BDA0003064487530000038
2)
Figure BDA0003064487530000039
the peer-to-peer protocols (12) and (14) can solve the leader-follow consistency problem when the following switching linear system asymptotically stabilizes at any switch:
Figure BDA00030644875300000310
wherein:
Figure BDA00030644875300000311
from (13) and (15) can be obtained:
Figure BDA00030644875300000312
Figure BDA00030644875300000313
therefore, the state of the multi-agent system can be described as follows:
Figure BDA00030644875300000314
Figure BDA0003064487530000041
from (10) and (11), it is possible to obtain:
Figure BDA0003064487530000042
Figure BDA0003064487530000043
from (18) and (19) a compact expression of the state can be obtained:
Figure BDA0003064487530000044
from (20) and (21) can be obtained:
Figure BDA0003064487530000045
E(k+1)＝AlcE(k) (24)
from (22), (23) and (24), the following can be determined (25):
Figure BDA0003064487530000046
wherein:
Figure BDA0003064487530000047
Figure BDA0003064487530000051
further, the fifth step is:
when the system (25) is stable, then Δ x when N is k → ∞ for i 0,1,2i(k)→0，Δzi(k)→0，ei(k) → 0; and e when t → ∞ timei(t) → 0, then
Figure BDA0003064487530000052
To obtain
Figure BDA0003064487530000053
So when k → ∞ is reached,
Figure BDA0003064487530000054
equations (10) and (11) can be written as:
Figure BDA0003064487530000055
Figure BDA0003064487530000056
from k → ∞ time Δ zi(k) → 0 means that (27), (28) are available: when t →At the time of infinity, the number of the carbon atoms,
Figure BDA0003064487530000057
Figure BDA0003064487530000058
therefore, from the formulae (26), (29) and (30), it can be inferred that y is → ∞ times k → ∞0(k)→u*，yi(k)→y0(k) (ii) a It is clear that the necessary conditions sufficient to achieve consistency are met.
Compared with the prior art, the invention has the beneficial effects that: (i) network-based predictive control schemes account for time delays and packet losses by actively compensating for communication constraints. (ii) A method of a switching system is introduced to solve the problem of leader following output consistency. Under any switching signal, when the switching system is asymptotically stable, the multi-agent control system with the switching topology can simultaneously achieve stability and consistency. (iii) When all agents receive their own information, two novel distributed protocols are designed by using a network predictive control method respectively whether data packets are lost or not and time delay exists. Sufficient conditions are obtained to simultaneously achieve the consistency of the leader follow output and the asymptotic stability. Simulations show that the state of the follower can track the state of the leader, and the states of all agents converge asymptotically to equilibrium under the switching topology.
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In order to solve the technical problem, the invention will be explained with reference to the accompanying drawings. The following drawings are only some examples of the invention; other similar figures may be obtained by the user from this figure. Wherein:
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a topology diagram of a multiple-input multiple-output system including four agents;
FIG. 3 is a diagram of switching signals for a multiple-input multiple-output system with four agents;
FIG. 4 shows an on-controlOutput curve and output track y of intelligent agent under control protocoli1(k),i＝0,1,2,3；
FIG. 5 is a diagram of the output curve, output trace y, of an agent under a control protocoli2(k),i＝0,1,2,3
FIG. 6 is a graph showing an output trace y of an output curve without communication delay and data packet loss when an agent transmits informationi1(k),i＝0,1,2,3(τ＝0)
FIG. 7 is a graph showing an output trace y of an output curve without communication delay and data packet loss when an agent transmits informationi2(k),i＝0,1,2,3(τ＝0)；
FIG. 8 is an error curve, error trace ei(k),i＝0,1,2,3。
Detailed Description
The technical solution of the present invention will be more deeply and completely described below. The implementation case is part of an implementation case. The user can obtain other embodiments according to the invention without creative work. The "other embodiments" are within the scope of the present invention.
Example 1 considers a multiple-input multiple-output system containing four agents. Wherein the content of the first and second substances,
Figure BDA0003064487530000061
Figure BDA0003064487530000062
Figure BDA0003064487530000063
Figure BDA0003064487530000064
the topological diagram of the multi-agent system is shown in fig. 2, the switching signal is shown in fig. 3, and the upper bound of the communication delay and the continuous packet loss number when the agent transmits data through the network are setUpper bound of total τ0＝2,τ1＝4,τ 23 and τ3＝2。
Observer gain matrix L solved by Riccati equationiIs composed of
Figure BDA0003064487530000065
Figure BDA0003064487530000066
According to the fifth step, obtaining the control gain K by a cone compensation linearization method1i,K2i,KyiAnd KziIs composed of
Figure BDA0003064487530000067
Figure BDA0003064487530000068
Figure BDA0003064487530000069
Figure BDA00030644875300000610
Figure BDA00030644875300000611
Closed loop system pi can be obtained through calculationσ(t)Has a characteristic value of
Figure BDA0003064487530000071
Figure BDA0003064487530000072
Figure BDA0003064487530000073
Obviously, all the characteristic values are within the unit circle. Thus, according to step five, the control protocols (12) and (14) can solve the leader following consistency problem. Selecting the initial state of the system as
Figure BDA0003064487530000074
Fig. 4 and 5 show that under the control protocols (12) and (14), the system can achieve leader-follow consistency and asymptotic stability. Where the given reference output value is 3. Fig. 6 and 7 show output curves of no communication delay and no data packet loss when an agent transmits information, and fig. 8 shows an error curve.
The above description is only one embodiment of the present invention, and is not intended to limit the present invention, and it is apparent to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. A heterogeneous multi-agent system output consistency method with communication time delay is characterized by comprising the following steps:
the method comprises the following steps: establishing a dynamic model of the heterogeneous multi-agent system with communication time delay under switching topology;
step two: constructing a state observer aiming at a dynamic model of a heterogeneous multi-agent system with communication time delay under switching topology, and predicting the state;
step three: designing a control protocol aiming at leader following output consistency under switching topology;
step four: according to the leader follow-up output consistency control protocol designed in the third step, a compact expression of the linear system is obtained;
step five: the leadership following consistency of the heterogeneous multi-agent system with communication time delay under the switching topology is realized.
2. The heterogeneous multi-agent system output consistency method with communication delay as claimed in claim 1, wherein the first step is:
considering the leader-following consistency of a multi-agent system of one leader and N followers, the dynamic model of the leader is described by the following system:
Figure FDA0003064487520000011
wherein the content of the first and second substances,
Figure FDA0003064487520000012
and
Figure FDA0003064487520000013
is the leader's state, control input and measurement output of the leader;
the kinetic model of the ith follower is described by the following system:
Figure FDA0003064487520000014
wherein the content of the first and second substances,
Figure FDA0003064487520000015
and
Figure FDA0003064487520000016
is the state of the ith follower, control input and measurement output;
Figure FDA0003064487520000017
and
Figure FDA0003064487520000018
is a known matrix; assuming that the state of all agents is not measurable, but the output is measurable, (A)i,Ci) Is detectable, i ═ 0,1, …, N.
3. The heterogeneous multi-agent system output consistency method with communication delay of claim 1, wherein the second step is:
to estimate the state of the ith follower, the following state observer was designed to obtain forward prediction:
Figure FDA0003064487520000019
wherein
Figure FDA00030644875200000110
Defined as k-tau for the ith followeriTime information prediction k-tauiThe state at the moment +1 is,
Figure FDA00030644875200000111
is k-tauiThe output prediction of the time of day is,
Figure FDA00030644875200000112
is an observer matrix;
using the information available at the controller side, the ith follower time k- τiThe +2 to time k state can be predicted by:
Figure FDA00030644875200000113
k-tau in (3)iIn place of the k-bit, k,
Figure FDA00030644875200000114
according to (2) and (5), for any initial condition xi(0) The error of the state estimate is:
ei(k+1)＝(Ai-LiCi)ei(k),i＝0,1,…,N (6)
wherein
Figure FDA0003064487520000021
Is the estimation error;
through iterative operation, the following results are obtained:
Figure FDA0003064487520000022
using the state prediction (4) recursively, the state prediction can be written as:
Figure FDA0003064487520000023
combining (3), (7) and (8) to obtain:
Figure FDA0003064487520000024
for tracking the required reference input u*The following states are introduced:
Figure FDA0003064487520000025
Figure FDA0003064487520000026
。
4. the heterogeneous multi-agent system output consistency method with communication delay as claimed in claim 1, wherein the third step is:
the method adopts a heterogeneous discrete time multi-agent system protocol based on predictive control to analyze consistency and stability, and solves the problem of leader following consistency when a follower receives information of a leader and a neighborhood follower with time delay and data packet loss; in order to compensate time delay and data packet loss caused by network initiative, the following protocol of multi-agent control based on predictive control is provided;
control protocol of follower:
Figure FDA0003064487520000027
from (12) can be obtained:
Figure FDA0003064487520000028
wherein
Figure FDA0003064487520000029
And
Figure FDA00030644875200000210
is the gain matrix to be designed;
a control protocol for the leader is proposed:
Figure FDA00030644875200000211
from (14) can be obtained:
Figure FDA00030644875200000212
wherein
Figure FDA00030644875200000213
And
Figure FDA00030644875200000214
is the gain matrix to be designed, Δ ui(k)＝ui(k)-ui(k-1)，Δxi(k)＝xi(k)-xi(k-1)，Δzi(k)＝zi(k)-zi(k-1)，Δei(k)＝ei(k)-ei(k-1)。
5. The heterogeneous multi-agent system output consistency method with communication delay of claim 1, wherein the fourth step is:
for (1) and (2) of the multi-agent network system, the control protocols (12) and (14) can solve the problem of leader follow consistency if the following conditions are satisfied;
1)
Figure FDA0003064487520000031
2)
Figure FDA0003064487520000032
when the following switching linear systems are gradually stabilized under any switching, the same protocols (12) and (14) can solve the problem of leader following consistency;
Figure FDA0003064487520000033
from (13) and (15) can be obtained:
Figure FDA0003064487520000034
Figure FDA0003064487520000035
therefore, the state of the multi-agent system can be described as follows:
Figure FDA0003064487520000036
Figure FDA0003064487520000037
from (10) and (11), it is possible to obtain:
Figure FDA0003064487520000038
Figure FDA0003064487520000039
from (18) and (19) a compact expression of the state can be obtained:
Figure FDA0003064487520000041
from (20) and (21) can be obtained:
Figure FDA0003064487520000042
E(k+1)＝AlcE(k) (24)
from (22), (23) and (24), the following can be determined (25):
Figure FDA0003064487520000043
wherein:
Figure FDA0003064487520000044
Figure FDA0003064487520000045
6. the heterogeneous multi-agent system output consistency method with communication delay of claim 1, wherein the fifth step is:
when the system (25) is stable, then Δ x when N is k → ∞ for i 0,1,2i(k)→0，Δzi(k)→0，ei(k) → 0; and e when t → ∞ timei(t) → 0, then
Figure FDA0003064487520000046
To obtain
Figure FDA0003064487520000047
So when k → ∞ is reached,
Figure FDA0003064487520000048
equations (10) and (11) can be written as:
Figure FDA0003064487520000049
Figure FDA00030644875200000410
from k → ∞ time Δ zi(k) → 0 means that (27), (28) are available: when t → ∞ is reached,
Figure FDA0003064487520000051
Figure FDA0003064487520000052
therefore, from the formulae (26), (29) and (30), it can be inferred that y is → ∞ times k → ∞0(k)→u*，yi(k)→y0(k) (ii) a It is clear that the necessary conditions sufficient to achieve consistency are met.
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