二階積分型多自主體系統(tǒng)的均方線性雙向趨同
發(fā)布時間：2018-12-13 02:27
【摘要】：在多自主體系統(tǒng)中,每個自主體之間不只是合作關(guān)系,還存在競爭關(guān)系.針對這類系統(tǒng),本文研究了通訊噪聲影響下多自主體系統(tǒng)的雙向趨同問題.我們在雙向趨同協(xié)議的設(shè)計中首次引入了時變趨同性增益.借助狀態(tài)轉(zhuǎn)移矩陣和代數(shù)圖論等工具,分析了閉環(huán)系統(tǒng)解的性質(zhì),并分別針對連續(xù)時間和離散時間二階積分型多自主體系統(tǒng),給出了所設(shè)計的雙向趨同協(xié)議為均方線性雙向趨同協(xié)議的充要條件.研究表明,表征自主體間通訊關(guān)系的有向符號圖結(jié)構(gòu)平衡并且含有一棵生成樹是保證協(xié)議為均方線性雙向趨同協(xié)議的最弱拓撲條件.特別地,如果有向符號圖還是加權(quán)平衡的,則所設(shè)計的控制協(xié)議為均方平均雙向趨同協(xié)議,即每個自主體的位置均方收斂于一個模相同符號不同的期望為初值的加權(quán)平均的隨機變量.
[Abstract]:In multi-agent systems, each self-agent is not only a cooperative relationship, but also a competition relationship. In this paper, the problem of bidirectional convergence of multi-agent systems under the influence of communication noise is studied. For the first time, we introduce time-varying convergence gain in the design of bidirectional convergence protocol. By means of state transition matrix and algebraic graph theory, the properties of the solution of the closed-loop system are analyzed. A necessary and sufficient condition for the proposed bidirectional convergence protocol to be a mean-square linear bidirectional convergence protocol is given. It is shown that the balanced structure of the directed symbol graph which represents the communication relationship between agents and the existence of a spanning tree are the weakest topological conditions to ensure that the protocol is a mean-square linear bidirectional convergence protocol. In particular, if the directed symbol graph is weighted and balanced, the proposed control protocol is the mean square average bidirectional convergence protocol. That is, the mean square of each self-principal position converges to a random variable with a weighted average expected to be the initial value with different symbols of the same module.
【學(xué)位授予單位】：曲阜師范大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：O175.5
本文編號：2375707
[Abstract]:In multi-agent systems, each self-agent is not only a cooperative relationship, but also a competition relationship. In this paper, the problem of bidirectional convergence of multi-agent systems under the influence of communication noise is studied. For the first time, we introduce time-varying convergence gain in the design of bidirectional convergence protocol. By means of state transition matrix and algebraic graph theory, the properties of the solution of the closed-loop system are analyzed. A necessary and sufficient condition for the proposed bidirectional convergence protocol to be a mean-square linear bidirectional convergence protocol is given. It is shown that the balanced structure of the directed symbol graph which represents the communication relationship between agents and the existence of a spanning tree are the weakest topological conditions to ensure that the protocol is a mean-square linear bidirectional convergence protocol. In particular, if the directed symbol graph is weighted and balanced, the proposed control protocol is the mean square average bidirectional convergence protocol. That is, the mean square of each self-principal position converges to a random variable with a weighted average expected to be the initial value with different symbols of the same module.
【學(xué)位授予單位】：曲阜師范大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：O175.5
【參考文獻】
相關(guān)期刊論文 前2條
1 ;CONSENSUS CONTROL FOR LEADER-FOLLOWING MULTI-AGENT SYSTEMS WITH MEASUREMENT NOISES[J];Journal of Systems Science & Complexity;2010年01期
2 ;Sampled-data based average consensus with measurement noises: convergence analysis and uncertainty principle[J];Science in China(Series F:Information Sciences);2009年11期
，本文編號：2375707
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