CN116107211A - Multi-agent system consistency control method and device based on hybrid control protocol - Google Patents
Multi-agent system consistency control method and device based on hybrid control protocol Download PDFInfo
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Abstract
The invention discloses a multi-agent system consistency control method and device based on a hybrid control protocol, comprising the following steps: constructing a multi-agent system, wherein the system comprises a leader and n followers, and constructing a kinetic equation of each agent; constructing a hybrid control protocol based on sampling control and saturation constraint pulse control; constructing constraint conditions and parameter sets of a hybrid control protocol; the control parameter set meets constraint conditions, namely, the multi-agent system achieves consistency control under the mixed control protocol. The beneficial effects of the invention are as follows: the advantages of two control modes of sampling control and pulse control are combined, the practical situation that the saturation of an actuator is limited is considered, and a novel multi-agent system consistency control method is designed.
Description
Technical Field
The invention relates to the field of multi-agent control, in particular to a multi-agent system consistency control method and device based on a hybrid control protocol.
Background
The literature [ Sampled-data leader-following consensus ofnonlinear multi-agent systems subject to impulsive perturbations ] explores the lead follow-up consistency problem of a class of nonlinear multi-agent systems based on sampling control, where all agents are affected by impulse disturbances generated by the input channel. Using algebraic graph theory, the lead follow-up consistency problem of the multi-agent system is translated into a stability problem of the constructed error system. Using Lyapunov functional and pulse system theory, a sufficient condition for the lead of the multi-agent system to follow the consistency is given. The resulting results are then extended to containment control of multi-agent systems with multiple leaders. Finally, the validity of the theoretical results obtained is demonstrated by means of numerical examples. In practical cases, however, the range of the communication channel may be limited when communicating between the agents due to the inherent characteristics of each agent, and thus the limitations of the communication channel of the agents are ignored.
Document [ Consensus of nonlinear multi-agent systems with fuzzy modelling uncertainties via state-constraint hybrid impulsive protocols ] investigated the problem of state-constrained pulse protocol controlled nonlinear multi-agent system consistency with uncertainty. Aiming at the uncertainty of the multi-agent system, a fuzzy logic system is adopted to approximately replace the uncertainty of the multi-agent system, and a judgment strategy only containing information related to the neighborhood is provided. To study the state-constrained pulse control protocol, three pulse control protocols are discussed, namely partial input saturation, dual actuator saturation, and single actuator saturation. Then, some sufficient conditions of the system are obtained to achieve consistency. Finally, the validity of the theoretical analysis is verified through a numerical simulation example. However, the control method is discontinuous control and has weak anti-interference capability.
Disclosure of Invention
The invention solves the technical problems that the prior art adopts a discontinuous control method to solve the problem of weaker anti-interference performance and ignores the situation of limited channels, and therefore, the invention provides a hybrid control protocol combining sampling control and saturation constraint pulse control for the first time, which is used for realizing the leading-following consistency control of a multi-intelligent system.
According to one aspect of the present invention, there is provided a multi-agent system consistency control method based on a hybrid control protocol, including the steps of:
constructing a multi-agent system, wherein the multi-agent system comprises a leader and n followers, and a kinetic equation of each agent is constructed;
constructing a hybrid control protocol based on sampling control and saturation constraint pulse control;
constructing constraint conditions and parameter sets of the hybrid control protocol;
and controlling the parameter set to meet the constraint condition, and enabling the multi-agent system to achieve consistency control under the hybrid control protocol.
Preferably, in the multi-agent system, the kinetic equation of each agent is:
wherein each agent stores own state information, and the state value of the ith agent is x i (t) ∈R, R represents a real set, f 1 (t,x i ) As a nonlinear function, f 2 (t,x i (t- τ)) is a nonlinear function with a time delay, assuming a function f (t, x) i (t)) satisfies Lipschitz condition, u i (t) represents a control input of the system, x 0 (t) represents a status value of the leader, τ represents time delay information of the ith agent.
Preferably, the multi-intelligent system communicates through a non-directional communication network, the non-directional communication network topology being defined as g= { v, e }, v being a non-empty set of nodes, v= {1, 2..n }, each node representing an agent; epsilon represents a directed edge set, if two nodes i, j can communicate, then there is i, j epsilon, node j represents the neighbor of i, and the neighbor set of node i is denoted as N i The method comprises the steps of carrying out a first treatment on the surface of the An undirected graph is said to be connected if it is possible for any two nodes to communicate with each other; definition a= [ a ] ij ]The adjacent weight matrix is D, and the degree matrix is D. For an undirected graph G, the element of a is either 0 or 1, the laplace matrix l=d-a.
Preferably, the specific form of the hybrid control protocol based on sampling control and saturation constraint pulse control is as follows:
wherein ,
h k for the pulse gain constant to be designed, sat () is a unity symmetric saturation function, c i For constants to be designed, a ij For the ith j element, x in the weight connection matrix i As a state function of node i, x j As a state function of node j, x 0 Delta (t-t) k ) A unit impulse function of the kth pulse, t is the running time, N + For the neighbor set of node i, t k Is the sampling moment +.>
Representing t E [ t ] k ,t k+1 ) The time sequence satisfies 0 < t at the sampling time 0 ＜t 1 ＜…＜t k ＜t k +1 < ". ++ infinity and->
Preferably, the parameter set comprises μ,
and the parameters are normal numbers, and when the parameter set meets constraint conditions, the multi-intelligent system achieves consistency control.
Preferably, the constraint conditions of the hybrid control protocol are as follows:
(ii)∈(t k -t k-1 )+lnμ≤0
(iv)≥ 1+2
the inequality II-X (L+C) eII is equal to or less than 1;
x is a constant matrix satisfying the linearization expression of the saturation function, L is a Laplacian matrix of the multi-agent system topology, C is a diagonal matrix, and C=diag [ C ] 1 ,c 2 ,...,c n ]E represents a systematic error.
Preferably, the hybrid control protocol also considers the case of limited actuator saturation.
According to another aspect of the present invention, there is provided a multi-agent system consistency control apparatus based on a hybrid control protocol, including:
the system comprises a multi-agent system construction module, a dynamic system analysis module and a dynamic system analysis module, wherein the multi-agent system construction module is used for constructing a multi-agent system, the multi-agent system comprises a leader and n followers, and a dynamic equation of each agent is constructed;
the hybrid control protocol construction module is used for constructing a hybrid control protocol based on sampling control and saturation constraint pulse control;
the constraint condition construction module is used for constructing constraint conditions and parameter sets of the hybrid control protocol;
and the consistency control module is used for controlling the parameter set to meet the constraint condition, so that the multi-agent system achieves consistency control under the hybrid control protocol.
In addition, the invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the steps of the multi-agent system consistency control method when executing the program.
Finally, the present invention also provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the multi-agent system consistency control method.
The technical scheme provided by the invention has the beneficial effects that:
(1) Communication delays are often unavoidable when the agents encounter a complex environment in the collaboration process. Based on the method, a nonlinear time-lag dynamic model is provided, and the leading follow-up consistency problem is analyzed and researched.
(2) Because of the inherent nature of each agent, the range of communication channels is limited when an agent communicates with other agents. By fully discussing the limitations of the agent communication channel, a pulse control protocol with global input saturation constraints is designed.
(3) A hybrid control protocol based on a combination of sampling control and pulse control is constructed. Compared with the existing control method, the method has stronger anti-interference capability, and ensures the control effect on continuous interference or instantaneous interference. Based on this approach, agreement is achieved without affecting the final control effect, whether or not there is continuous interference or transient interference in the communication process.
Drawings
FIG. 1 is a flow chart of a multi-agent system consistency control method based on a hybrid control protocol in an embodiment of the invention;
FIG. 2 is a diagram of an undirected communication network topology of a multi-agent system in accordance with an embodiment of the present invention;
FIG. 3 is a state diagram of a multi-agent system according to an embodiment of the present invention;
FIG. 4 is a diagram of the error between each follower agent and the leader in an embodiment of the present invention;
FIG. 5 is a block diagram of a multi-agent system consistency control device based on a hybrid control protocol according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, the embodiment provides a multi-agent system consistency control method based on a hybrid control protocol, which mainly includes the following steps:
s1: constructing a multi-agent system, wherein the multi-agent system comprises a leader and n followers, and a kinetic equation of each agent is constructed;
in this embodiment, the kinetic equation of each agent is as follows:
wherein each agent stores own state information, and the state value of the ith agent is x i (t)∈R，f 1 (t,x i ) As a nonlinear function, f 2 (t,x i (t- τ)) is a nonlinear function with a time delay, assuming a function f (t, x) i (t)) satisfies Lipschitz condition, u i (t) represents a control input of the system, x 0 (t) represents a status value of the leader, τ represents time delay information of the ith agent.
In this embodiment, it is assumed that R is a real number set. Lambda (lambda) min (P) and respectively lambda max (P) represents the minimum eigenvalue and the maximum eigenvalue of the matrix P. The symbol sat (·) is defined as a unity symmetric saturation function, which, when m e R,
the euclidean norms of the vector and the matrix are defined as the infinite norms of the vector respectively,
wherein x＝[x1 ,x 2 ,...,x n ] T ,X∈R n 。
The multi-agent system communicates through an undirected connectivity network, the network topology defined as g= { v, epsilon }, v being a non-empty set of nodes v= {1,2,..,each node represents an agent; epsilon represents a directed edge set, if two nodes i, j can communicate, then there is i, j epsilon, node j represents the neighbor of i, and the neighbor set of node i is denoted as N i . An undirected graph is said to be connected if it is possible for any two nodes to communicate with each other. Definition a= [ a ] ij ]The adjacent weight matrix is D, and the degree matrix is D. For an undirected graph G, the element of a is either 0 or 1, the laplace matrix l=d-a.
S2: constructing a hybrid control protocol based on sampling control and saturation constraint pulse control; the specific form is as follows:
wherein ,
h k for the pulse gain constant to be designed, sat () is a unity symmetric saturation function, c i For constants to be designed, a ij For the ith j element, x in the weight connection matrix i As a state function of node i, x j As a state function of node j, x 0 Delta (t-t) k ) A unit impulse function of the kth pulse, t is the running time, N + For the neighbor set of node i, t k Is the sampling moment +.>
Representing t E [ t ] k ,t k+1 ) The time sequence satisfies 0 < t at the sampling time 0 ＜t 1 ＜…＜t k ＜t k +1 < ". ++ infinity and->
Assuming the state of the agent
Let->
This means that the state of the agent is left-continuous, defining consistency:
definition error->
Then an error system is readily available:
wherein ,
F 1 (e 1 (t))＝[f 1 (t,e 1 (t)),f 1 (t,e 2 (t)),...,f 1 (t,e n (t))] T
F 2 (e 2 (t-τ))＝[f 2 (t,e 1 (t-τ)),f 2 (t,e 2 (t-τ)),...,f 2 (t,e n (t-τ))] T
f 1 (t,e i (t))＝f 1 (x i (t))-f 1 (t,x 0 (t))
f 2 (t,e i (t-τ))＝f 2 (x i (t-τ))-f 2 (t,x 0 (t-τ))
C＝diag[c 1 ,c 2 ,...,c n ]
K＝diag[k 1 ,k 2 ,...,k n ]
s3: constructing constraint conditions and parameter sets of the hybrid control protocol;
s4: and controlling the parameter set to meet the constraint condition, namely, the multi-agent system achieves consistency control under the hybrid control protocol.
In this embodiment, the constructed parameter set includes: mu, the first and second groups are respectively arranged on the first and second groups,
all are normal numbers.
For multi-agent system consistency problems, if there is a positive constant mu,
the following constraints are met, the multi-agent system (1) can be consistent under the action of the hybrid control protocol (2).
The constraints of construction are as follows:
(ii)∈(t k -t k-1 )+lnμ≤0
(iv)≥ 1+2
in addition, the inequality II-X (L+C) eII.ltoreq.1 should also be true.
The proving process is as follows: constructed Lyapunov function: v (t) =e T (t) e (t), at the non-pulse time t+.t k When this is the case, the Lipschitz condition can be obtained:
wherein ,κ1 ，κ 2 Is a positive constant arbitrarily greater than zero, epsilon 1 ，ε 2 Is a constant of Lipschitz,
theory of approach1: for any kappa > 0, M, N εR n All have 2M T N≤κM T M+κ -1 N T N。
At pulse time t=t k When, according to the control protocol, it is possible to obtain:
according to the formulas (3) and (4), it is possible to obtain
According to the quotation 2 and (5), when t is E [ t ] 0 ,t 1 ]The method can obtain:
and (4) lemma 2: assuming τ is a normal number and j (t) is a positive continuous function, when t ε [ t ] 0 -τ,T]If there are two positive functions 1,2 Then the following inequality relationship holds:
then there are:
when t is E (t) 1 ,t 2 ]We can obtain:
so that the number of the parts to be processed,
recurrence of the proper t.epsilon.by mathematical induction (t k ,t k+1 ]In the time-course of which the first and second contact surfaces,
and by conditions
Is available in the form of
The multi-agent system (1) can be obtained to be consistent, and the verification is finished.
The effectiveness of the multi-agent system consistency control based on the hybrid control protocol of the invention is demonstrated by combining a specific experiment:
experimental data and conclusions:
consider the following multi-agent system:
the topology is shown in fig. 2, and p=1, 2,3, i=1, 2,3,4,5,6,7,8,9 are taken in this embodiment.
Let the step length be 0.001, t k -t k-1 =0.02, take x 01 (0)＝0.8，x 02 (0)＝4.3，x 03 (0)＝-5.6，x 1 (0)＝3.1，x 2 (0)＝5.7，x 3 (0)＝2.5，x 4 (0)＝1.3，x 5 (0)＝-1.2，x 6 (0)＝-3.5，x 7 (0)＝-2.7，x 8 (0)＝-0.6，x 9 (0)＝-4.6，h k ＝0.25，τ＝0.26，∈＝2.6，μ＝0.6，
And c=diag [0.84,0.69,0.87,0.62,0.67,0.65,0.73,0.82,0.93 ]]. Through checking, the conditions in the proving process are satisfied. Thus, a state diagram (fig. 3) of the multi-agent system and a state error diagram (fig. 4) between each follower and the leader are obtained, and it is apparent from fig. 3 and 4 that the multi-agent system (11) can be consistent under the control method.
The invention combines the advantages of two control modes of sampling control and pulse control, considers the practical situation of limited saturation of an actuator, and designs a novel multi-agent system consistency control method, which has the following technical key points:
(1) For the parameter to be designed mu in the control protocol and the customization,
pulse gain h k The time delay τ needs to be reasonably designed.
(2) First, pulse time sequence { t } k ' and pulse time interval t k -t k-1 Proper selection is required. Second, the control protocol ensures that each agent is able to receive information from neighboring agents at the time of sampling. Finally, the control protocol is designed into a mode of combining discontinuous control (pulse control) and continuous control (sampling control), so that the control protocol has stronger anti-interference capability.
The following describes a multi-agent system consistency control device based on a hybrid control protocol, and the multi-agent system consistency control device described below and the multi-agent system consistency method described above can be referred to correspondingly.
Referring to fig. 5, the embodiment provides a multi-agent system consistency control device based on a hybrid control protocol, which includes the following modules:
a multi-agent system construction module 01, configured to construct a multi-agent system, where the multi-agent system includes a leader and n followers, and construct a kinetic equation of each agent;
the hybrid control protocol construction module 02 is used for constructing a hybrid control protocol based on sampling control and saturation constraint pulse control;
a constraint condition construction module 03, configured to construct constraint conditions and parameter sets of the hybrid control protocol;
and the consistency control module 04 is used for controlling the parameter set to meet the constraint condition, so that the multi-agent system achieves consistency control under the hybrid control protocol.
Based on, but not limited to, the above-described device, the kinetic equation for each agent is as follows:
wherein each agent stores own state information, and the state value of the ith agent is x i (t)∈R，f 1 (t,x i ) As a nonlinear function, f 2 (t,x i (t- τ)) is a nonlinear function with a time delay, assuming a function f (t, x) i (t)) satisfies Lipschitz condition, u i (t) represents a control input of the system, x 0 (t) represents a status value of the leader, τ represents time delay information of the ith agent.
Based on, but not limited to, the above-described apparatus, the multi-intelligent system communicates through a non-directional communication network, the non-directional communication network topology being defined as g= { v, ε, v is a non-empty set of nodes, v= {1,2,., n }, each node representing an agent; epsilon represents a directed edge set, if two nodes i, j can communicate, then there is i, j epsilon, node j represents the neighbor of i, and the neighbor set of node i is denoted as N i The method comprises the steps of carrying out a first treatment on the surface of the An undirected graph is said to be connected if it is possible for any two nodes to communicate with each other; definition a= [ a ] ij ]The adjacent weight matrix is D, and the degree matrix is D. For an undirected graph G, the element of a is either 0 or 1, the laplace matrix l=d-a.
Based on the device but not limited to the above, the hybrid control protocol based on sampling control and saturation constraint pulse control is as follows:
wherein ,
h k for the pulse gain constant to be designed, sat () is a unity symmetric saturation function, c i For constants to be designed, a ij For the ith j element, x in the weight connection matrix i As a state function of node i, x j As a state function of node j, x 0 Delta (t-t) k ) A unit impulse function of the kth pulse, t is the running time, N + For the neighbor set of node i, t k Is the sampling moment +.>
Representing t E [ t ] k ,t k+1 ) The time sequence satisfies 0 < t at the sampling time 0 ＜t 1 ＜…＜t k ＜t k +1 < ". ++ infinity and->
Based on, but not limited to, the above-mentioned means, the set of parameters comprises mu,
and the parameters are normal numbers, and when the parameter set meets constraint conditions, the multi-intelligent system achieves consistency control.
Based on, but not limited to, the above-described apparatus, the constraints of the hybrid control protocol are as follows:
(ii)∈(t k -t k-1 )+lnμ≤0
(iv)≥ 1 + 2
the inequality II-X (L+C) eII is equal to or less than 1;
x is a constant matrix satisfying the linearization expression of the saturation function, L is a Laplacian matrix of the multi-agent system topology, C is a diagonal matrix, and C=diag [ C ] 1 ,c 2 ,...,c n ]E represents a systematic error.
Referring to fig. 6, fig. 6 illustrates a physical structure diagram of an electronic device, which may include: processor (processor) 610, communication interface (Communications Interface) 620, memory (memory) 630, and communication bus 640, wherein processor 610, communication interface 620, memory 630 communicate with each other via communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to perform the steps of the multi-agent system consistency control method described above, including: constructing a multi-agent system, wherein the system comprises a leader and n followers, and constructing a kinetic equation of each agent; constructing a hybrid control protocol based on sampling control and saturation constraint pulse control; constructing constraint conditions and parameter sets of a hybrid control protocol; and if the control parameter set meets the constraint condition, the multi-agent system achieves consistency control under the mixed control protocol.
Further, the logic instructions in the memory 630 may be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, etc., which can store program codes.
In still another aspect, an embodiment of the present invention further provides a storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the multi-agent system consistency control method described above, and specifically includes: constructing a multi-agent system, wherein the system comprises a leader and n followers, and constructing a kinetic equation of each agent; constructing a hybrid control protocol based on sampling control and saturation constraint pulse control; constructing constraint conditions and parameter sets of a hybrid control protocol; and if the control parameter set meets the constraint condition, the multi-agent system achieves consistency control under the mixed control protocol.
The embodiment of the invention provides a method and a device for controlling consistency of a time-lapse multi-agent system based on a hybrid control protocol, and in addition, electronic equipment and a storage medium for implementing the method, wherein the system comprises a leader and n followers by constructing the multi-agent system, and a kinetic equation of each agent is constructed; constructing a hybrid control protocol based on sampling control and saturation constraint pulse control; constructing constraint conditions and parameter sets of a hybrid control protocol; and if the control parameter set meets the constraint condition, the multi-agent system achieves consistency control under the mixed control protocol. The technical scheme of the invention has the beneficial effects that: the advantages of two control modes of sampling control and pulse control are combined, the practical situation that the saturation of an actuator is limited is considered, and a novel multi-agent system consistency control method is designed.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the terms first, second, third, etc. do not denote any order, but rather the terms first, second, third, etc. are used to interpret the terms as labels.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. The multi-agent system consistency control method based on the hybrid control protocol is characterized by comprising the following steps:
constructing a multi-agent system, wherein the multi-agent system comprises a leader and n followers, and a kinetic equation of each agent is constructed;
constructing a hybrid control protocol based on sampling control and saturation constraint pulse control;
constructing constraint conditions and parameter sets of the hybrid control protocol;
and controlling the parameter set to meet the constraint condition, and enabling the multi-agent system to achieve consistency control under the hybrid control protocol.
2. The hybrid control protocol-based multi-agent system consistency control method according to claim 1, wherein the kinetic equation of each agent in the multi-agent system is:
wherein each agent stores own state information, and the state value of the ith agent is x i (t) ∈R, R represents a real set, f 1 (t,x i ) As a nonlinear function, f 2 (t,x i (t- τ)) is a nonlinear function with a time delay, assuming a function f (t, x) i (t)) satisfies Lipschitz condition, u i (t) represents a control input of the system, x 0 (t) represents a status value of the leader, τ represents time delay information of the ith agent.
3. The hybrid control protocol-based multi-agent system coherence control method of claim 1, wherein said multi-agent system communicates through a non-directional communication network, the undirected communication network topology is defined as g= { v, epsilon }, v being a non-empty set of nodes, v= {1,2,., n }, each node representing an agent; epsilon represents a directed edge set, if two nodes i, j can communicate, then there is i, j epsilon, node j represents the neighbor of i, and the neighbor set of node i is denoted as N i The method comprises the steps of carrying out a first treatment on the surface of the An undirected graph is said to be connected if it is possible for any two nodes to communicate with each other; definition a= [ a ] ij ]For an adjacency weight matrix, D is a degree matrix, and for an undirected graph G, the elements of a are 0 or 1, the laplace matrix l=d-a.
4. The multi-agent system consistency control method based on the mixed control protocol according to claim 1, wherein the mixed control protocol based on the sampling control and the saturation constraint pulse control is specifically formed as follows:
wherein ,
h k for the pulse gain constant to be designed, sat () is a unity symmetric saturation function, c i For constants to be designed, a ij For the ith j element, x in the weight connection matrix i As a state function of node i, x j As a state function of node j, x 0 Delta (t-t) k ) A unit impulse function of the kth pulse, t is the running time, N + For the neighbor set of node i, t k Is the sampling moment +.>
Representing t E [ t ] k ,t k+1 ) The time sequence satisfies 0 < t at the sampling time 0 ＜t 1 ＜…＜t k ＜t k +1 < ". ++ infinity and->
5. The multi-agent system consistency control method based on a hybrid control protocol as recited in claim 4, wherein the parameter set includes μ,
1,2 and the parameters are normal numbers, and when the parameter set meets constraint conditions, the multi-intelligent system achieves consistency control.
6. The multi-agent system consistency control method based on the hybrid control protocol according to claim 5, wherein the constraint conditions of the hybrid control protocol are as follows:
(i)
(ii)∈(t k -t k-1 )+lnμ≤0
(iii)
(iv)≥ 1 + 2
the inequality II-X (L+C) eII is equal to or less than 1;
x is a constant matrix satisfying the linearization expression of the saturation function, L is a Laplacian matrix of the multi-agent system topology, C is a diagonal matrix, and C=diag [ C ] 1 ,c 2 ,...,c n ]E represents a systematic error.
7. The hybrid control protocol-based multi-agent system consistency control method of claim 1, wherein the hybrid control protocol also considers the case of limited actuator saturation.
8. A multi-agent system consistency control device based on a hybrid control protocol, comprising:
the system comprises a multi-agent system construction module, a dynamic system analysis module and a dynamic system analysis module, wherein the multi-agent system construction module is used for constructing a multi-agent system, the multi-agent system comprises a leader and n followers, and a dynamic equation of each agent is constructed;
the hybrid control protocol construction module is used for constructing a hybrid control protocol based on sampling control and saturation constraint pulse control;
the constraint condition construction module is used for constructing constraint conditions and parameter sets of the hybrid control protocol;
and the consistency control module is used for controlling the parameter set to meet the constraint condition, so that the multi-agent system achieves consistency control under the hybrid control protocol.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor performs the steps of the multi-agent system consistency control method of any of claims 1-7 when the program is executed.
10. A storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the multi-agent system consistency control method of any of claims 1-7.
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