Abstract: The present invention relates to the field of control engineering, in particular to a distributed control method for consensus of an agricultural multi-agent system based on sampled data, comprising the following steps: for a first-order multi-agent system with fixed directed topology, designing a distributed control protocol based on sampled information in a time delay state; obtaining a dynamic model of the multi-agent system with time delays based on sampled information, and transforming a consensus problem of multiple agents into a stability problem by means of tree transformation; determining constraint conditions on a time delay and a sampling period that the multi-agent system achieves stability, that is, sufficient and necessary conditions that the agents in the multi-agent system achieve average state consensus; and realizing average consensus of the multi-agent system according to the sufficient and necessary conditions.

Abstract: The present disclosure relates to a mulch film laying robot and a mulch film laying method. The mulch film laying robot comprises a walking mechanism for walking, a mulch film laying mechanism for mulch film laying, a mulch film compaction mechanism for compacting a laid mulch film, and a reconfiguration mechanism for a robot to cross obstacles. The walking mechanism comprises a plurality of pairs of vertical supports, rollers are arranged at the lower ends of the vertical supports, walking rotating motors for driving the rollers are arranged at the bottoms of two pairs of vertical supports at both ends of the walking mechanism, and the vertical supports on the same side are sequentially connected and fixed by transverse connecting rods. The reconfiguration mechanism is arranged between each pair of vertical supports, and the reconfiguration mechanism comprises two reconfiguration arms.

Abstract: In the field of image encryption and decryption, in order to solve the problem of small key space in the encryption process caused by low dimension of one-dimensional chaotic map and few initial values and control parameters, the present disclosure provides an image encryption and decryption communication algorithm based on two-dimensional lag complex Logistic map, which expands the variables of one-dimensional Logistic map from the real number domain to the complex number domain, improves the dimension of the mapping system, increases the number of keys, and expands the mapping range, wherein the new mapping system is more sensitive to small disturbances of initial values and parameters, which can break the strong correlation between pixels in the original image, so that the pixels of the encrypted image are uniformly distributed in the whole plane, and the features of the original image are hidden.

Abstract: In the field of image encryption and decryption, in order to solve the problem of small key space in the encryption process caused by low dimension of one-dimensional chaotic map and few initial values and control parameters, the present disclosure provides an image encryption and decryption communication algorithm based on two-dimensional lag complex Logistic map, which expands the variables of one-dimensional Logistic map from the real number domain to the complex number domain, improves the dimension of the mapping system, increases the number of keys, and expands the mapping range, wherein the new mapping system is more sensitive to small disturbances of initial values and parameters, which can break the strong correlation between pixels in the original image, so that the pixels of the encrypted image are uniformly distributed in the whole plane, and the features of the original image are hidden.