本文選題：異構(gòu)多智能體系統(tǒng)　切入點(diǎn)：一致性　出處：《南京理工大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：多智能體協(xié)調(diào)控制在科學(xué)工程領(lǐng)域中有著較高的應(yīng)用潛力,為智能交通、多移動(dòng)機(jī)器人系統(tǒng)、軍事應(yīng)用的戰(zhàn)術(shù)編隊(duì)等領(lǐng)域提供理論性指導(dǎo),而一致性作為實(shí)現(xiàn)多智能體協(xié)調(diào)控制的關(guān)鍵因素,吸引了眾多學(xué)者的關(guān)注。目前大部分研究涉及的都是同構(gòu)系統(tǒng),而對(duì)因制約因素而具有不同動(dòng)態(tài)特性的異構(gòu)多智能體系統(tǒng)的研究并不多,由此激發(fā)了作者對(duì)異構(gòu)多智能體系統(tǒng)一致性的研究。本文主要研究?jī)?nèi)容如下:基于Lyapunov函數(shù)法,借助于雙線性矩陣不等式,研究了由一階和二階智能體構(gòu)成的異構(gòu)多智能體系統(tǒng)在完全間歇通信情況下的一致性問(wèn)題。首先根據(jù)周期性間歇的鄰居信息為系統(tǒng)設(shè)計(jì)分布式一致性協(xié)議,分析得出其實(shí)現(xiàn)一致性需要滿足的條件;然后將結(jié)論推廣至領(lǐng)導(dǎo)跟隨的一致性問(wèn)題,考慮二階跟隨者速度不可測(cè)的情況,為系統(tǒng)設(shè)計(jì)了速度觀測(cè)器。研究了具有間歇通信和通信延時(shí)的異構(gòu)多智能體系統(tǒng)的一致性問(wèn)題,其中智能體間的通信延時(shí)是不同的。分別考慮完全周期性間歇通信和部分周期性間歇通信兩種情況,基于間歇的鄰居信息為系統(tǒng)設(shè)計(jì)不同的分布式一致性協(xié)議,采用Lyapunov函數(shù)法探究系統(tǒng)實(shí)現(xiàn)一致性應(yīng)該滿足的條件,確定通信延時(shí)與通信持續(xù)時(shí)間之間的關(guān)系。最后,針對(duì)噪聲影響下帶有動(dòng)態(tài)領(lǐng)導(dǎo)者的異構(gòu)多智能體系統(tǒng)的均方一致性問(wèn)題進(jìn)行了研究,考慮了有無(wú)時(shí)間延遲兩種情況。為了削弱噪聲影響,提出了具有時(shí)變?cè)鲆娴囊恢滦詤f(xié)議,同時(shí)采用速度分解法簡(jiǎn)化狀態(tài)方程使跟蹤問(wèn)題的分析變得更簡(jiǎn)單。隨后基于圖論和隨機(jī)工具,分析得出了確保系統(tǒng)實(shí)現(xiàn)均方意義上的領(lǐng)導(dǎo)跟隨一致性的條件。
[Abstract]:Multi-agent coordinated control has a high application potential in the field of scientific engineering, which provides theoretical guidance for intelligent transportation, multi-mobile robot systems, tactical formation of military applications, and so on. As a key factor to realize coordinated control of multi-agent, consistency has attracted the attention of many scholars. At present, most of the researches are related to isomorphism system. However, there are few researches on heterogeneous multi-agent systems with different dynamic characteristics due to constraints, which has inspired the author to study the consistency of heterogeneous multi-agent systems. The main contents of this paper are as follows: based on Lyapunov function method, By means of bilinear matrix inequalities, In this paper, the consistency problem of heterogeneous multi-agent systems composed of first-order and second-order agents is studied in the case of complete intermittent communication. Firstly, a distributed consistency protocol is designed for the system based on periodic intermittent neighbor information. Then the conclusion is extended to the consistency problem of leaders, and the unmeasurable speed of second-order follower is considered. The speed observer is designed for the system, and the consistency problem of heterogeneous multi-agent systems with intermittent communication and communication delay is studied. The communication delay between agents is different. Considering the two cases of complete periodic intermittent communication and partial periodic intermittent communication, different distributed consistency protocols are designed for the system based on intermittent neighbor information. The Lyapunov function method is used to explore the conditions that the system should satisfy in order to determine the relationship between the communication delay and the communication duration. Finally, the relationship between the communication delay and the communication duration is determined. In this paper, the mean square consistency problem of heterogeneous multi-agent systems with dynamic leaders under the influence of noise is studied, and whether there is time delay is considered. In order to weaken the noise effect, a consistency protocol with time-varying gain is proposed. At the same time, the velocity decomposition method is used to simplify the state equation to simplify the analysis of the tracking problem. Then, based on graph theory and random tools, the conditions to ensure the consistency of leadership following in the mean square sense of the system are obtained.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP18;TP13

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本文編號(hào)：1616604