Multi-agent Coordination Control And Its Application In Chemical Production Line

The research and application of multi-agent coordination control technology conform to the trend and development of the times.In recent decades,it has attracted the attention of scientific researchers in different fields.As a representative of the application of multi-agent coordination control theory to engineering practice,the multi-manipulator system has been paid much attention from researchers.The multi-manipulator system is modeled.The model is nonlinear multi-agent system described by the Euler-Lagrange equation.The coordination control of the manipulator is realized by the communication between the manipulators.Based on the practical application in chemical production,the coordination control of multi-manipulator system is applied in the automatic palletizing of polypropylene products.It mainly includes three aspects.Firstly,we discuss the problem that the static position consensus control for multi-agent systems.Two distributed consensus control algorithms are proposed without any assumptions.As the control input,one uses the speed information based on the agent itself and the location information of its neighbors.The other uses not only the speed information by itself,but also the location and speed information of its neighbors.By applying the Lyapunov stability theorem and the Matrosov theorem,sufficient conditions for the Euler-Lagrange system to achieve static position consensus are obtained.At the same time,the rationality of the control algorithm is proved.Secondly,the velocity consensus control for a class of leaderless nonlinear multi-agent systems described by the Euler-Lagrange equation is studied.Without any assumptions,two distributed consensus control algorithms are proposed,which consider the speed information based on the agent's neighbor as the control input and the unknown disturbance of the system,respectively.By using the Lyapunov stability theorem and the LaSalle invariant set principle,the sufficient conditions are obtained for the Euler-Lagrange system to achieve velocity consensus,and the rationality of the control algorithm is verified.Lastly,this consensus problem for heterogeneous multi-agent systems by using the second-order neighbors' information is studied.Two kinds of linear consensus control algorithms are proposed based on the information of the agent itself and its neighbors.One only considers the relative position information,and the other considers the relative position and velocity information.By employing the graph theory and the matrix theory,sufficient conditions are derived for heterogeneous multi-agent systems with the undirected connected topology to achieve the consensus.Through computer simulation,the consensus control algorithms of multi-agent coordination control proposed in this paper are verified.The simulation results are consistent with the theoretical analysis,which indicates that the control algorithms proposed in this paper are effective and feasible in the polypropylene production line.