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

【摘要】：多智能體協(xié)調(diào)控制在科學工程領域中有著較高的應用潛力,為智能交通、多移動機器人系統(tǒng)、軍事應用的戰(zhàn)術編隊等領域提供理論性指導,而一致性作為實現(xiàn)多智能體協(xié)調(diào)控制的關鍵因素,吸引了眾多學者的關注。目前大部分研究涉及的都是同構系統(tǒng),而對因制約因素而具有不同動態(tài)特性的異構多智能體系統(tǒng)的研究并不多,由此激發(fā)了作者對異構多智能體系統(tǒng)一致性的研究。本文主要研究內(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成的異構多智能體系統(tǒng)在完全間歇通信情況下的一致性問題。首先根據(jù)周期性間歇的鄰居信息為系統(tǒng)設計分布式一致性協(xié)議,分析得出其實現(xiàn)一致性需要滿足的條件;然后將結論推廣至領導跟隨的一致性問題,考慮二階跟隨者速度不可測的情況,為系統(tǒng)設計了速度觀測器。研究了具有間歇通信和通信延時的異構多智能體系統(tǒng)的一致性問題,其中智能體間的通信延時是不同的。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)設計不同的分布式一致性協(xié)議,采用Lyapunov函數(shù)法探究系統(tǒng)實現(xiàn)一致性應該滿足的條件,確定通信延時與通信持續(xù)時間之間的關系。最后,針對噪聲影響下帶有動態(tài)領導者的異構多智能體系統(tǒng)的均方一致性問題進行了研究,考慮了有無時間延遲兩種情況。為了削弱噪聲影響,提出了具有時變增益的一致性協(xié)議,同時采用速度分解法簡化狀態(tài)方程使跟蹤問題的分析變得更簡單。隨后基于圖論和隨機工具,分析得出了確保系統(tǒng)實現(xiàn)均方意義上的領導跟隨一致性的條件。
[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.
【學位授予單位】：南京理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP18;TP13

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