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

Claim 4:
5. The multi-intelligent-agent cooperated transportation method according to claim 1, wherein the distributed observer triggered based on self-pheromone release is expressed as:

{dot over (θ)}i(t)=Si(t)θi(t)+di(t)ĝli(t)

{dot over (d)}i(t)=alĝliT(t)ĝli(t), wherein Si(t) represents an observed value of a constant system matrix S observed by the intelligent agent i, θi(t) represents state estimation information of the leader intelligent agent, tli(t) represents a lth pheromone release time, di(t) represents a self-pheromone release time-varying parameter, di(0)≥1, a1 represents a positive real number, t represents a time, i=1, . . . , N, aij is a communication identifier, is 0 or 1 and represents a communication state between the intelligent agent i and an intelligent agent j, and ai0 represents a communication state between the intelligent agent i and the leader intelligent agent.