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  本文選題：多智能體系統(tǒng) + 編隊控制��； 參考：《大連海事大學(xué)》2017年碩士論文

【摘要】：智能體,指的是具有智能的實體,在信息技術(shù)尤其是人工智能和計算機領(lǐng)域,可以被看做是通過傳感器感知周圍環(huán)境、通過自主行為實現(xiàn)一系列提前設(shè)定的任務(wù)或目標的計算系統(tǒng)。多智能體系統(tǒng)的編隊控制指的是多個智能體基于一些簡單的計算和檢測能力,獨立運動,最后形成期望的隊形并在完成既定任務(wù)的過程中保持隊形的穩(wěn)定,而系統(tǒng)編隊控制問題的核心是對于編隊控制算法的研究,目的是使多個相互獨立運動的智能體在控制算法的作用下形成期望的幾何隊形,并保持隊形的穩(wěn)定。本論文主要研究多智能體系統(tǒng)的編隊控制問題,主要包括多智能體系統(tǒng)的編隊形成和編隊保持(軌跡跟蹤)兩個方面。在研究多智能體系統(tǒng)編隊形成控制時,以分布式控制策略為基礎(chǔ),對多智能體系統(tǒng)的編隊形成問題進行研究。這一部分將多智能體系統(tǒng)的通信結(jié)構(gòu)用代數(shù)拓撲圖表示,系統(tǒng)中每個智能體只需要獲取部分相鄰智能體的相對距離和相對角度信息,并在此基礎(chǔ)上設(shè)計基于位移信息的一致性控制算法。然后運用李雅普諾夫穩(wěn)定性判別方法和Matlab仿真,在理論和實際兩方面對控制律的有效性和穩(wěn)定性做出驗證。在多智能體系統(tǒng)編隊形成之后考慮系統(tǒng)的編隊保持控制問題。該部分以領(lǐng)航——跟隨法為基礎(chǔ),目的是使整個系統(tǒng)在按照預(yù)定軌跡運動的同時保持整個系統(tǒng)編隊隊形的穩(wěn)定。研究時將系統(tǒng)中的兩個智能體依次看做領(lǐng)航者和跟隨者,其中跟隨者只需要獲取與領(lǐng)航者之間的相對位置信息,并設(shè)計控制算法。同樣地,通過運用李雅普諾夫穩(wěn)定性判別方法以及拉薩爾不變性定理和Matlab仿真,在理論和實際兩方面對所設(shè)計的控制算法的有效性和穩(wěn)定性做出驗證。
[Abstract]:An agent, an intelligent entity, in information technology, especially in the fields of artificial intelligence and computer, can be seen as sensing the environment through sensors. A computing system that implements a set of tasks or goals in advance through autonomous behavior. The formation control of multi-agent system means that multiple agents move independently based on some simple computing and detection capabilities, and finally form the desired formation and maintain the formation stability in the process of completing a given task. The core of the system formation control problem is the research on the formation control algorithm. The purpose is to form the desired geometric formation and maintain the stability of the formation by the action of the control algorithm. This paper mainly studies the formation control of multi-agent system, including formation formation and formation keeping (trajectory tracking) of multi-agent system. In the study of formation formation control of multi-agent system, the formation formation problem of multi-agent system is studied based on distributed control strategy. In this part, the communication structure of the multi-agent system is represented by algebraic topology graph. Each agent in the system only needs to obtain the relative distance and relative angle information of some adjacent agents. On this basis, a consistency control algorithm based on displacement information is designed. Then the validity and stability of the control law are verified in theory and practice by using Lyapunov stability discrimination method and Matlab simulation. After the formation of multi-agent system formation, the formation maintenance control of the system is considered. This part is based on piloting-follow method and aims to make the whole system keep the stability of formation while moving according to the predetermined trajectory. In the research, the two agents in the system are regarded as the navigator and the follower in turn. The follower only needs to obtain the relative position information between the pilot and the pilot, and design the control algorithm. Similarly, the validity and stability of the proposed control algorithm are verified theoretically and practically by using Lyapunov stability criterion, Lassar invariance theorem and Matlab simulation.
【學(xué)位授予單位】：大連海事大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP18;TP13

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本文編號：1776183