Gradient Field Of The Multi-agent System Coordination Control Problem Research

In recent years, with the wide application of mobile wireless sensor networks and multi-agent systems, cooperative control problem has received the attention of more and more researchers. A cooperative control problem of the multi-agent systems is to design a simple control law for each agent, using local information from its neighbors, such that the system can achieve a consensus based on the goal or task, namely all agents achieve the same state. Cooperative control as the core issue of the multi-agent system, has become a hotspot of research in the related field. With the popularity of wireless mobile sensor network applications in environmental monitoring and exploration,the research of appropriate distributed learning and cooperative control strategy for wireless mobile sensor networks become an urgent demand for the development of multi-agent system. This paper studies the learning algorithm and collaborative control algorithms applied in the wireless sensor network, takes the characteristics of the gradient field environment into account, improves the synergetic control strategy between the agent, presents multi-agent collaborative control algorithm which is suitable for gradient field. This work mainly includes the following aspects:The first work is to discuss a multi-agent distributed learning algorithm which is suitable for the environment of the gradient field based on existing theoretical. Distributed estimate the measured value of the sensor nodes (including noise) using the Kalman filter algorithm;The second work is to design a cooperative control strategy which is suitable for gradient field. Decision variable is introduced based on the existed multi-agent collaborative control rules. And using the simulation it is proved that it can convergence faster;At last work is to present that the collaborative rules of the decision variables apply to the prediction-based multi-agent collaborative control; Then presents the multi-agent collaborative control model in gradient field space and gives the simulation experiments.In this paper Research on the cooperative control problem for multi-agent systems, using the distributed learning NMDLA and collaborative control strategy BODVSR to find the peak of the gradient field, Design the model MAS-CCBOGFM by NMDLA and BODVSR.