本文選題：多智能體系統(tǒng) + 一致性�。� 參考：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：多智能體系統(tǒng)的協(xié)同控制問題是一個(gè)跨學(xué)科研究問題,具有廣泛的應(yīng)用背景,比如編隊(duì)控制、無人機(jī)飛行器、傳感器網(wǎng)絡(luò)等等.因而,受到了眾多領(lǐng)域?qū)W者的廣泛關(guān)注和研究.一致性問題是多智能體系統(tǒng)理論研究的基本問題,主要是是研究如何設(shè)計(jì)合適的控制協(xié)議,使系統(tǒng)中的智能體在該控制協(xié)議下,達(dá)到狀態(tài)一致.本文采用基于周期檢測的事件觸發(fā)控制協(xié)議.在該控制協(xié)議下,智能體的狀態(tài)值周期檢測,當(dāng)在檢測時(shí)刻不滿足觸發(fā)條件時(shí),才會執(zhí)行相關(guān)動作.本文提出了一種新的事件觸發(fā)條件,利用代數(shù)圖論和Lyapunov穩(wěn)定性判據(jù)等數(shù)學(xué)工具,給出了系統(tǒng)達(dá)到狀態(tài)一致的條件;并使用MATLAB對系統(tǒng)進(jìn)行數(shù)值模擬驗(yàn)證了該協(xié)議的有效性.進(jìn)一步,通過數(shù)值模擬與其它事件觸發(fā)條件下的控制協(xié)議相比較.其結(jié)果表明,在本文設(shè)計(jì)的觸發(fā)條件下,能夠顯著減少系統(tǒng)控制輸入更新的次數(shù).在實(shí)際的系統(tǒng)中,智能體之間的時(shí)滯是難免的.因此,本文同時(shí)研究了存在時(shí)滯的情況,采用新的事件觸發(fā)條件,利用代數(shù)圖論和Routh判據(jù)等數(shù)學(xué)工具推導(dǎo)出系統(tǒng)達(dá)到狀態(tài)一致,時(shí)滯需要滿足的條件.并使用MATLAB對系統(tǒng)進(jìn)行數(shù)值模擬,驗(yàn)證了該條件的正確性和協(xié)議的有效性.
[Abstract]:The cooperative control problem of multi-agent system is a cross disciplinary research problem, which has extensive application background, such as formation control, UAV aircraft, sensor network and so on. Therefore, it has been widely concerned and studied by many scholars in many fields. The consistency problem is the basic problem in the research of multi-agent system theory, which is mainly studied. How to design a suitable control protocol to make the intelligent agent in the system consistent under the control protocol. This paper adopts the event trigger control protocol based on periodic detection. Under the control protocol, the state value cycle detection of the agent will perform the related action when the trigger condition is not satisfied at the time of detection. A new event triggering condition is given. Using mathematical tools such as algebraic graph theory and Lyapunov stability criterion, the conditions for the system to achieve consistent state are given. The validity of the protocol is verified by numerical simulation of the system using MATLAB. Further, the result table is compared with the control protocol under other event triggering conditions. In the actual system, the time lag between the agents is unavoidable. Therefore, this paper also studies the existence of time delay, uses new event triggering conditions, and derives the system from mathematical tools such as algebraic graph theory and Routh criterion. The condition is consistent and the time delay needs to be satisfied. Numerical simulations of the system using MATLAB verify the correctness of the condition and the effectiveness of the protocol.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP18;O231

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本文編號：2032322