Patent ID: 11880210
Assignee: SHENZHEN TECHNOLOGY UNIVERSITY
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 2:
3. The multi-intelligent-agent cooperated transportation method according to claim 2, wherein the transportation model following the multi-intelligent-agent formation is expressed as:, {
   
    
     
      
       
        
         
          q
          .
         
         i
        
        (
        t
        )
       
       =
       
        
         k
         1
        
        ⁢
        
         
          p
          i
         
         (
         t
         )
        
       
      
     
    
    
     
      
       
        
         
          p
          .
         
         i
        
        (
        t
        )
       
       =
       
        
         k
         2
        
        ⁢
        
         
          u
          i
         
         (
         t
         )
        
       
      
     
    
   
  
  
 

wherein {dot over (q)}i(t)∈Rni represents the position of an ith intelligent agent, {dot over (p)}i(t)∈Rni represents the speed of the ith intelligent agent, ui(t)∈Rmi represents the input control amount of the ith intelligent agent, k1 and k2 respectively represent experiential linear coefficients of pi(t) and ui(t), and i=1, 2, . . . , N.