CN108508914A - A kind of formation control method of discrete multi-agent system - Google Patents
A kind of formation control method of discrete multi-agent system Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention discloses a kind of formation control methods of discrete multi-agent system, the described method comprises the following steps：Utilize the correspondence between the knowledge description intelligent body of graph theory；With networking forecast Control Algorithm, Active Compensation communicates time lag；It is proposed the design method of the distributed formation control agreement of discrete multi-agent system；The consistency of multi-agent system is analyzed using matrix theory and Lyapunov Theory of Stability, and realizes the formation control of multi-agent system on this basis；Numerical simulation, the validity of proof theory result are carried out with MATLAB.The present invention solves the problems, such as the formation control problem of the formation control and the discrete time isomery multi-agent system with identical permanent communication delay of the discrete time isomery multi-agent system of no communication delay, has highly application value.
Description
Technical field
The present invention relates to a kind of formation control methods of discrete multi-agent system.
Background technology
Main study subject of the multi-agent system in becoming distributed artificial intelligence research the late 1980s.
The main purpose of research multi-agent system is progress distributed cooperation coordination control between the relatively simple intelligent body of desired function
System, is finally completed complex task.Compared to single intelligent body, multi-agent system, especially distributed multi agent system, tool
There are many clear advantages.Such as：With distributed perception and actuator, and inherent concurrency；With larger superfluous
It is remaining, there is better fault-tolerance and robustness, completion task that can be more efficient compared with single intelligent body；Complete same task
Multi-agent system, general cost is cheap, and compared with single function admirable but expensive intelligent body more has an economic benefit
Deng.Therefore, multi-agent system has been developed as control field and the important research direction of robot field in recent years.
In multiple agent coordinates control problem, consistency problem is as concertation control between intelligent body
The basis of system has important theory value and realistic meaning.So-called consistency refers to over time, more than one intelligently
Some state of all intelligent bodies reaches unanimity in system system.And consistency protocol is interaction, transmission between intelligent body
The rule of information, it describes the information exchanging process of each intelligent body and intelligent body adjacent thereto.Agreement emphasis
It is concentrated mainly on design analysis, the convergence of consistency protocol, equilibrium state and the applied analysis to consistency protocol model.At present
The main Convergence analysis that consistency protocol is carried out using matrix theory method and Lyapunov methods, shape is balanced using graph theory
State is analyzed.The research and development of consistency problem is rapid, including bioscience, physics, system and control science, computer section
Etc. every field have all carried out the analysis and research of different level to consistency problem.
Recently as the further investigation to multi-agent system about consistency problem, many research directions are derived.
Wherein important application of the formation control as multi-agent system consistency problem, a hot spot for becoming current control subject are asked
Topic.Formation control refers to the team of multiple intelligent bodies composition during move to specific objective or direction, between each other guarantor
Scheduled set form (i.e. formation) is held, while adapting to the control problem of environmental constraints (such as avoidance) again.Formation control
Using very extensive, possess good foreground in fields such as industry, military affairs, aviation, societies.In military field, pass through unmanned war
The coordination control of bucket machine effectively strengthens fight capability, aggressiveness and the phylactic power defensive power of army；In space industry, by using satellite
Group replaces single satellite body surface face to be imaged, and effectively increases flexibility, imaging precision and the quality of system.Exactly this
Kind, which is widely applied foreground and attracts more and more researchers and put into, works as the research of multi-agent system formation control
In, to but also the research for multi-agent system formation control has prodigious theory value and directive significance.
This project is having understood multi-agent system consistency problem and the formation control problem based on consistency protocol
Present Research on the basis of, with the relevant knowledge of graph theory, using networking forecast Control Algorithm, Design consistency agreement is simultaneously
It for solving the problems, such as multi-agent system formation control aspect in formation control.
Invention content
The purpose of the present invention is to provide a kind of formation control methods of discrete multi-agent system, to solve above-mentioned background
The problem of being proposed in technology.
To achieve the above object, the present invention provides the following technical solutions：
A kind of formation control method of discrete multi-agent system, the described method comprises the following steps：
Step (1) utilizes the correspondence between the knowledge description intelligent body of graph theory；
Step (2), with networking forecast Control Algorithm, Active Compensation communicates time lag；
Step (3) proposes the design method of the distributed formation control agreement of discrete multi-agent system；
Step (4) analyzes the consistency of multi-agent system using matrix theory and Lyapunov Theory of Stability, and herein
On the basis of realize multi-agent system formation control；
Step (5) carries out numerical simulation, the validity of proof theory result with MATLAB.
As a further solution of the present invention：In step (2), permanent time lag τ present in communication network；Wherein, τ>0
It is known constant.
As a further solution of the present invention：In step (4), this system by single order, second-order dynamic model mixing and
At if N number of intelligent body includes m single order individual, n-m second order individual, then kinetic model is described as follows：
Single order kinetic model：
xi(t+1)=xi(t)+Tui(t) i=1,2 ..., m,
Second-order dynamic model：
xi(t+1)=xi(t)+Tvi(t) i=m+1, m+2 ..., N,
vi(t+1)=vi(t)+Tui(t)
In formula：xiIndicate the displacement of intelligent body i, uiIndicate the control input of intelligent body i, viIndicate the speed of intelligent body i；t
For discrete instants, T is sampling week.
Compared with prior art, the beneficial effects of the invention are as follows：It can not survey in the displacement state of multiple agent, export and can survey
In the case of, propose the control protocol with feedback of status, eventually by mathematical derivation, demonstration realizes the formation control of multiple agent
It makes (end-state displacement, speed reach unanimity), the validity of notional result is illustrated by numerical simulation；When intelligent body state
When can not survey and have permanent communication time lag, the forecast Control Algorithm based on networking proposes that the control with feedback of status is assisted
View, eventually by mathematical derivation, demonstration realizes the formation control (end-state displacement, speed reach unanimity) of multiple agent, uses
The validity of Numerical Simulation Results certification theory result.
In conclusion the formation control method of the discrete multi-agent system, solves the discrete time of no communication delay
The formation control problem of isomery multi-agent system and the discrete time isomery multiple agent system with identical permanent communication delay
The formation control problem of system, has highly application value.
Specific implementation mode
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
The every other embodiment that technical staff is obtained without making creative work belongs to the model that the present invention protects
It encloses.
The application is by reference to correlative study both domestic and external, in conjunction with respective advantage, on the basis of extensive work early period
On, formation problem of the research discrete time multi-agent system in the case that there is communication time lag and without two kinds of time lag of communication utilizes
Networking forecast Control Algorithm Active Compensation communication delay, the consistency protocol based on multi-agent system optimize it deformation,
To design formation control agreement, and certain formation is formed to multi-agent system of sening as an envoy to, such as：Speed, relative displacement etc. reach
Consistent criterion.
In the embodiment of the present invention, a kind of formation control method of discrete multi-agent system, the method includes following steps
Suddenly：
Step (1) utilizes the correspondence between the knowledge description intelligent body of graph theory；
Step (2), with networking forecast Control Algorithm, Active Compensation communicates time lag；
Step (3) proposes the design method of the distributed formation control agreement of discrete multi-agent system；
Step (4) analyzes the consistency of multi-agent system using matrix theory and Lyapunov Theory of Stability, and herein
On the basis of realize multi-agent system formation control；
Step (5) carries out numerical simulation, the validity of proof theory result with MATLAB.
Consider that heterogeneous system, this heterogeneous system are mixed by single order, second-order dynamic model, if N number of intelligent body includes m
A single order individual, n-m second order individual, then kinetic model is described as follows：
Single order kinetic model：
xi(t+1)=xi(t)+Tui(t) i=1,2 ..., m,
Second-order dynamic model：
xi(t+1)=xi(t)+Tvi(t) i=m+1, m+2 ..., N,
vi(t+1)=vi(t)+Tui(t)
In formula：xiIndicate the displacement of intelligent body i, uiIndicate the control input of intelligent body i, viIndicate the speed of intelligent body i；t
For discrete instants, T is sampling week.Assuming that there are permanent time lag τ for the communication network between intelligent body, wherein τ>0 is known normal
Number.
1) the formation control problem of the discrete time isomery multi-agent system without communication delay.In the displacement of multiple agent
State can not survey output it is measurable in the case of, propose the control protocol with feedback of status, eventually by mathematical derivation, demonstration is real
The formation control (end-state displacement, speed reach unanimity) of existing multiple agent, illustrates notional result by numerical simulation
Validity.2) the formation control problem of the discrete time isomery multi-agent system with identical permanent communication delay.Work as intelligence
When body state can not be surveyed and have permanent communication time lag, the forecast Control Algorithm based on networking is proposed with feedback of status
Control protocol, eventually by mathematical derivation, (end-state displacement, speed tend to one to the formation control of demonstration realization multiple agent
Cause), with the validity of Numerical Simulation Results certification theory result.
The above are merely the preferred embodiment of the present invention, it is noted that for those skilled in the art, not
Under the premise of being detached from present inventive concept, several modifications and improvements can also be made, these should also be considered as the protection model of the present invention
It encloses, these all do not interfere with the effect and patent practicability that the present invention is implemented.
Claims (3)
1. a kind of formation control method of discrete multi-agent system, which is characterized in that the described method comprises the following steps：
Step (1) utilizes the correspondence between the knowledge description intelligent body of graph theory；
Step (2), with networking forecast Control Algorithm, Active Compensation communicates time lag；
Step (3) proposes the design method of the distributed formation control agreement of discrete multi-agent system；
Step (4) analyzes the consistency of multi-agent system using matrix theory and Lyapunov Theory of Stability, and basic herein
The upper formation control for realizing multi-agent system；
Step (5) carries out numerical simulation, the validity of proof theory result with MATLAB.
2. the formation control method of discrete multi-agent system according to claim 1, which is characterized in that in step (2)
In, permanent time lag τ present in communication network；Wherein, τ>0 is known constant.
3. the formation control method of discrete multi-agent system according to claim 1, which is characterized in that in step (4)
In, this system is mixed by single order, second-order dynamic model, if N number of intelligent body includes m single order individual, n-m second order
Individual, then kinetic model be described as follows：
Single order kinetic model：
xi(t+1)=xi(t)+Tui(t) i=1,2 ..., m,
Second-order dynamic model：
xi(t+1)=xi(t)+Tvi(t) i=m+1, m+2 ..., N,
vi(t+1)=vi(t)+Tui(t)
In formula：xiIndicate the displacement of intelligent body i, uiIndicate the control input of intelligent body i, viIndicate the speed of intelligent body i；T be from
The moment is dissipated, T is sampling week.
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Cited By (9)
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| CN109144018A (en) * | 2018-10-26 | 2019-01-04 | 黑龙江大学 | A kind of not same order hybrid electro systematic collaboration control method and control system |
| CN109491381A (en) * | 2018-11-06 | 2019-03-19 | 中国科学技术大学 | Multiple mobile robot based on observer adaptively forms into columns tracking and controlling method |
| CN109541944A (en) * | 2018-12-20 | 2019-03-29 | 哈尔滨理工大学 | Discrete networks multi-agent system finite-time control method containing communication delay |
| CN109799813A (en) * | 2018-12-27 | 2019-05-24 | 南京理工大学 | A kind of implementation method that multiple agent trolley distribution is formed into columns |
| CN110376889A (en) * | 2019-07-12 | 2019-10-25 | 哈尔滨理工大学 | Heterogeneous network multi-agent system with Time-varying time-delays is grouped consistent method |
| CN110794825A (en) * | 2019-08-13 | 2020-02-14 | 浙江工业大学 | Heterogeneous stage robot formation control method |
| CN113050681A (en) * | 2021-03-11 | 2021-06-29 | 广东工业大学 | Singular group system consistency analysis and control method |
| 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 |
| CN115993845A (en) * | 2023-03-23 | 2023-04-21 | 西北工业大学深圳研究院 | Coordinated motion planning and formation control method for cluster intelligent system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109144018A (en) * | 2018-10-26 | 2019-01-04 | 黑龙江大学 | A kind of not same order hybrid electro systematic collaboration control method and control system |
| CN109491381A (en) * | 2018-11-06 | 2019-03-19 | 中国科学技术大学 | Multiple mobile robot based on observer adaptively forms into columns tracking and controlling method |
| CN109491381B (en) * | 2018-11-06 | 2020-10-27 | 中国科学技术大学 | Observer-based multi-mobile-robot self-adaptive formation tracking control method |
| CN109541944A (en) * | 2018-12-20 | 2019-03-29 | 哈尔滨理工大学 | Discrete networks multi-agent system finite-time control method containing communication delay |
| CN109799813A (en) * | 2018-12-27 | 2019-05-24 | 南京理工大学 | A kind of implementation method that multiple agent trolley distribution is formed into columns |
| CN110376889A (en) * | 2019-07-12 | 2019-10-25 | 哈尔滨理工大学 | Heterogeneous network multi-agent system with Time-varying time-delays is grouped consistent method |
| CN110376889B (en) * | 2019-07-12 | 2022-03-01 | 哈尔滨理工大学 | Heterogeneous networked multi-agent system grouping consistency method with time-varying time lag |
| CN110794825A (en) * | 2019-08-13 | 2020-02-14 | 浙江工业大学 | Heterogeneous stage robot formation control method |
| CN113050681A (en) * | 2021-03-11 | 2021-06-29 | 广东工业大学 | Singular group system consistency analysis and control method |
| 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 |
| CN115993845A (en) * | 2023-03-23 | 2023-04-21 | 西北工业大学深圳研究院 | Coordinated motion planning and formation control method for cluster intelligent system |
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