Research On Collaborative Control Of Multi-agent System Based On Consensus

With the rapid development of distributed sensors,communication,computing and microprocessor technologies,the collabrative control of multi-agent systems has become one of the main objects of interest in the field of systems and control science.Based on the consensus control of multi-agent systems,this paper investigates the application of multiagent technology in practical engineering,using UGV(unmanned ground vehicle)and UAV(unmanned aerial vehicle)pairs as the main objects.The main research contents are as follows:(1)The hardware modules and specific models used in the UGV are introduced,and the specific functions of each module are explained.Starting from a single wheel,the dynamics of a single UGV is systematically described,and the model of multi-UGV system is established and converted into the form of the state-space expression.An experimental platform was designed,which consists of a multi-agent layer,a communication network layer and a UWB positioning layer.As the UGV is controlled by PWM signals generated by the main controller,the relationship between the PWM signals of UGV and the control protocol was established.A consensus protocol and a formation control protocol for the multi-UGV system were designed,and the effectiveness of the protocol and the engineering value of the experimental platform were verified through experiments.(2)For the UAV used in this paper,its hardware modules and specific models are introduced,and the specific functions of each module are explained.Starting from a single propeller,the dynamics model of a single UAV is systematically described,and the model of multi-UAV system is established and converted into the form of a state-space expression.A collaborative experimental platform for the multi-UAV system is designed.A dynamic consensus control protocol,a static consensus control protocol and a formation control protocol for the multi-UAV system were designed,and the effectiveness of the protocols was verified through experiments.(3)A heterogeneous multi-agent system composed of UGVs and UAVs is discussed,a collaborative control scheme is introduced,and dynamic consensus protocol,static consensus protocol and formation control protocol are designed.Optimal control laws for UGV and UAV are designed separately using optimal control theory,and by adjusting the weight parameters in the performance function,the function of optimising different terms can be achieved.By analysing the optimal control law for a single agent and combining it with the distributed control characteristics of multi-agent system,an optimal control protocol for the heterogeneous system is designed.This optimal control protocol can ensure that the system can complete the collaborative control on the basis of the limitation of the performance function.Finally,the protocol is validated through three levels: numerical simulation,software simulation and physical platform,which fully illustrates the effectiveness and engineering value of the research results.