CN113259259B - 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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CN113259259B
CN113259259B CN202110522422.5A CN202110522422A CN113259259B CN 113259259 B CN113259259 B CN 113259259B CN 202110522422 A CN202110522422 A CN 202110522422A CN 113259259 B CN113259259 B CN 113259259B
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CN113259259A (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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    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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Abstract

A heterogeneous multi-intelligent system output consistency method with communication time delay belongs to the technical field of networked multi-intelligent systems. Aiming at the consistency and stability of the leading follow-up output of a communication delay heterogeneous discrete time linear networked multi-agent system, two network protocols are provided to obtain the state of a follower and achieve the output consistency of the state of the leader under a switching topology, and meanwhile, the asymptotic stability of all the main bodies is ensured. A network prediction control method is provided to achieve consistent output and compensate communication delay. When at least one follower is connected to the leader by a directed edge, sufficient conditions to follow the leader's consistency and progressive stability can be obtained. The state of the follower can be tracked by simulation example, and the states of all agents are asymptotically converged to be stable under the proposed theoretical result.

Description

Heterogeneous multi-agent system output consistency method with communication time delay
Technical Field
The invention relates to a heterogeneous multi-intelligent system output consistency method with communication time delay, and belongs to the technical field of networked multi-intelligent systems.
Background
The main research of the multi-agent system is that the interaction between the agents and the network topology has an effect on the system, wherein the leading of the multi-agent control system follows the consistency and is always a hot topic, and the focus is that a group of multi-agents reach a common state through communication with adjacent agents. As is well known, some of the results of multi-agent leaders following output consistency have been widely used in the field of control engineering, such as flocking, swarming, unmanned aerial vehicle formation flying, synchronization, and the like.
In general, a control protocol is designed by using delay data of a multi-agent system having a communication delay. But outdated information cannot accurately and effectively describe the current state of the system. Therefore, when the control protocol is directly designed using the outdated state information, the network characteristics are completely ignored, and the network delay and the packet loss limitation are passively allowed, so that a good control effect cannot be obtained on the controlled object.
Disclosure of Invention
The invention solves the technical problems that: aiming at the problem of the leading following output consistency of the heterogeneous multi-agent system with communication time delay under the switching topology, the networked prediction method is provided, and the leading following output consistency of the heterogeneous multi-agent system with communication time delay is realized.
In order to solve the problems, the technical scheme of the invention is implemented as follows:
(1) Establishing a dynamic model of a heterogeneous multi-agent system with communication time delay under a switching topology;
(2) Constructing a state observer aiming at a dynamic model of the heterogeneous multi-agent system with communication time delay under a switching topology, and carrying out state prediction;
(3) Designing a control protocol aiming at the consistency of leading follow-up output under the switching topology;
(4) According to the leader following output consistency control protocol designed in the step three, a compact expression of the linear system is obtained;
(5) Leading edge of the heterogeneous multi-agent system with communication time delay under the switching topology is consistent.
Further, the first step is:
Considering the leader-follow consistency of a multi-agent system of one leader and N followers, the dynamics model of the leader is described by the following system:
wherein, And/>Is the status of the leader, the control inputs and the measurement outputs of the leader.
The dynamics model of the ith follower is described by the following system:
wherein, And/>The state of the ith follower, control input and measurement output; and/> Is a known matrix; assuming that the status 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 is designed to obtain forward predictions:
Wherein the method comprises the steps of Is defined as the i-th follower predicting the k- τ i +1 moment state using the k- τ i moment information,/>Is the output prediction at time k- τ i,/>Is an observer matrix.
With the information available at the controller side, the state of the ith follower time k- τ i +2 to time k can be predicted by:
the k- τ i in (3) is replaced by k,
According to (2) and (5), for any initial condition x i (0), the error of the state estimation is:
ei(k+1)＝(Ai-LiCi)ei(k),i＝0,1,…,N (6)
Wherein the method comprises the steps of Is an estimation error;
Through iterative operation, the following steps are obtained:
Recursively using state prediction (4), the state prediction can be written as:
combining (3), (7) and (8) yields:
To track the required reference input u *, the following states are introduced:
further, the third step is as follows:
the consistency and stability are analyzed by adopting a heterogeneous discrete time multi-agent system protocol based on predictive control, and the problem of leader following consistency when a follower receives leader and neighborhood follower information with time delay and data packet loss is solved; in order to compensate the delay and the data packet loss actively caused by the network, the following protocol of multi-agent control based on predictive control is proposed;
Follower control protocol:
From (12):
Wherein the method comprises the steps of And/>Is a gain matrix to be designed;
The control protocol of the leader is proposed:
From (14):
Wherein the method comprises the steps of And/>Is a gain matrix to be designed ,Δui(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 as follows:
For (1) and (2) of the multi-agent network system, the control protocols (12) and (14) can solve the problem of leader-to-follower consistency if the following conditions are satisfied:
1)
2)
the same protocol (12) and (14) can solve the leader-following consistency problem when the following switched linear system is asymptotically stable at arbitrary switching:
Wherein:
From (13) and (15) are available:
therefore, the state of the multi-agent system can be described as follows:
From (10) and (11), it is possible to obtain:
From (18) and (19), a compact expression of the state can be obtained:
from (20) and (21), it is possible to obtain:
E(k+1)＝AlcE(k) (24)
from (22), (23) and (24), it is possible to determine (25):
Wherein:
Further, the fifth step is:
When the system (25) is stable, then for i=0, 1, 2..n, when k→infinity, →0, Δx i(k)→0,Δzi(k)→0,ei (k) →0; and when t → infinity, e i (t) → 0, then Obtaining the productTherefore, when k.fwdarw.infinity,
Formulas (10) and (11) can be written as:
From the value of Δz i (k) →0 at k→infinity, we mean that (27), (28) can be obtained: when t is → infinity,
Thus, from formulas (26), (29), (30), y 0(k)→u*,yi(k)→y0 (k) can be deduced when k→infinity; it is apparent that sufficient requirements for achieving consistency are satisfied.
Compared with the prior art, the invention has the beneficial effects that: (i) The network-based predictive control scheme addresses time delays and packet losses by actively compensating for communication constraints. (ii) Methods of switching systems are introduced to solve the leader-follower output consistency problem. Under any switching signal, when the switching system is asymptotically stable, the multi-agent control system with switching topology can reach stability and consistency at the same time. (iii) When all agents receive their own information, whether there is a packet loss or not and a time delay, two novel distributed protocols are designed using the network predictive control method, respectively. Sufficient conditions to achieve both consistent leading follower output and asymptotic stability are obtained. Simulations indicate that the state of the follower can track the state of the leader and that the states of all agents converge asymptotically to equilibrium under the switching topology.
Drawings
In order to make the technical solution of the present invention, the present invention will be described below by selecting some drawings. The following figures are merely some examples of the present invention; the user can obtain other similar figures from the figure. Wherein:
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a topology of a multiple-input multiple-output system including four agents;
FIG. 3 is a diagram of switching signals for a four agent MIMO system;
Fig. 4 is a graph of agent output under control protocol, output trajectory y i1 (k), i=0, 1,2,3;
Fig. 5 is a graph of the output trace y i2 (k), i=0, 1,2,3 of the agent under control protocol
Fig. 6 shows output curves of the intelligent agent without communication delay and data packet loss when transmitting information, and output tracks y i1 (k), i=0, 1,2,3 (τ=0)
Fig. 7 is an output curve without communication delay and data packet loss when the agent transmits information, and the output track y i2 (k), i=0, 1,2,3 (τ=0);
Fig. 8 is an error curve, error trace e i (k), i=0, 1,2,3.
Detailed Description
The technical scheme in the embodiment of the invention will be more fully described below. The embodiments are partially embodiments. The user can obtain other embodiments according to the invention without the need for inventive effort. Such other embodiments are within the scope of the present invention.
Example 1 consider a multiple-input multiple-output system comprising four agents. Wherein,
As shown in fig. 2, the topology diagram of the multi-agent system is shown in fig. 3, and the sum of the upper bound of communication delay and the upper bound of continuous packet loss number when the agent transmits data through the network is set as τ 0＝2,τ1＝4,τ2 =3 and τ 3 =2.
The observer gain matrix L i solved by the Li-Ka equation is
According to the fifth step, the control gains K 1i,K2i,Kyi and K zi are obtained by the cone complement linearization method
The characteristic value of the closed loop system pi σ(t) can be obtained by calculation as
Obviously, all eigenvalues are within a 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 follows
Figures 4 and 5 show that the system can achieve leader-follower consistency and asymptotic stability under the control protocols (12) and (14). Wherein the given reference output value is 3. Fig. 6 and 7 show output curves of no communication delay and no data packet loss when the 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 various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (1)

1. The heterogeneous multi-agent system output consistency method with communication time delay is characterized by comprising the following steps of:
Step one: establishing a dynamic model of a heterogeneous multi-agent system with communication time delay under a switching topology; the method specifically comprises the following steps:
Considering the leader-follow consistency of a multi-agent system of one leader and N followers, the dynamics model of the leader is described by the following system:
wherein, And/>A status of the leader, a control input and a measurement output of the leader;
the dynamics model of the ith follower is described by the following system:
wherein, And/>The state of the ith follower, control input and measurement output; and/> Is a known matrix; assuming that the status of all agents is not measurable, but the output is measurable, (A i,Ci) is detectable, i=0, 1, …, N;
step two: constructing a state observer aiming at a dynamic model of the heterogeneous multi-agent system with communication time delay under a switching topology, and carrying out state prediction; the method specifically comprises the following steps:
To estimate the state of the ith follower, the following state observer is designed to obtain forward predictions:
Wherein the method comprises the steps of Defined as the i-th follower predicting the k- τ i +1 time state with the k- τ i time information,Is the output prediction at time k- τ i,/>Is an observer matrix;
The state of the ith follower time k- τ i +2 to time k is predicted by using the information available at the controller side by:
the k- τ i in (3) is replaced by k,
According to (2) and (5), for any initial condition x i (0), the error of the state estimation is:
ei(k+1)＝(Ai-LiCi)ei(k),i＝0,1,…,N (6)
Wherein the method comprises the steps of Is an estimation error;
Through iterative operation, the following steps are obtained:
recursively using state predictions (4), the state predictions are written as:
combining (3), (7) and (8) yields:
To track the required reference input u *, the following states are introduced:
step three: designing a control protocol aiming at the consistency of leading follow-up output under the switching topology; the method specifically comprises the following steps:
The control protocol of the follower is:
From (12):
Wherein the method comprises the steps of And/>Is a gain matrix to be designed;
The control protocol of the leader is:
From (14):
Wherein the method comprises the steps of And/>Is a gain matrix to be designed ,Δui(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);
Step four: according to the leader following output consistency control protocol designed in the step three, realizing the leader following consistency of the heterogeneous multi-agent system with communication time delay under the switching topology; the method comprises the following specific steps:
for (1) and (2) of the multi-agent network system, the control protocols (12) and (14) solve the problem of leader-to-follower consistency if the following conditions are satisfied:
1)
2)
Protocols (12) and (14) solve the leader-following consistency problem when the switched linear system is asymptotically stable at arbitrary switches.
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