本文選題：三階多智能體系統(tǒng) + 一致性　； 參考：《濟南大學(xué)》2016年碩士論文

【摘要】：近十幾年來,越來越多的人對多智能體系統(tǒng)的探討非常感興趣,這是由于多智能體系統(tǒng)在真實世界中有著十分廣泛的應(yīng)用,比如無人機、多車輛\機器人系統(tǒng)、自治水下潛艇以及信息中的網(wǎng)絡(luò)控制等等。在多智能體系統(tǒng)的相應(yīng)理論探討當中,一致性的探討一直是現(xiàn)在社會上的一個關(guān)鍵核心問題。關(guān)于這一方面的研究,人們最開始探討了簡單的一階系統(tǒng),隨著對一階系統(tǒng)的深入考量,學(xué)者們逐漸開始對二階系統(tǒng)進行探討,直到現(xiàn)在還是只有很少的人去研究三階以及高階多智能體系統(tǒng)。因此,一階與二階系統(tǒng)關(guān)于多智能體系統(tǒng)一致性的理論探究結(jié)果相對于三階以及高階系統(tǒng)的理論成果而言要豐富的多,完善的多。鑒于生活中的實際應(yīng)用以及為了使理論結(jié)果更加完善,所以,本文探討了比較簡單特殊的高階系統(tǒng)的一致性,即,三階多智能體系統(tǒng)的一致性。在本文當中,我們主要針對無時滯和時滯連續(xù)時間三階多智能體系統(tǒng)以及無時滯離散時間三階多智能體系統(tǒng),研究了它們的一致性問題,主要內(nèi)容和貢獻如下:第一章,簡單介紹了多智能體系統(tǒng)一致性的研究背景和研究近況,以及最后簡要說明了本文的主要內(nèi)容安排。第二章,為了使整篇文章簡化和統(tǒng)一,簡單介紹圖的一些基本知識以及符號表示。第三章,我們主要探討了無時滯連續(xù)時間的三階多智能體系統(tǒng)的一致性問題。根據(jù)代數(shù)圖理論知識、Hurwitz判據(jù)以及復(fù)常系數(shù)多項式穩(wěn)定性判據(jù),分析了系統(tǒng)矩陣的特征值,從而得到了系統(tǒng)分別在有向拓撲和無向圖的假設(shè)下達到一致的充要條件。第四章,在第三章探討結(jié)果的基礎(chǔ)之上,本章我們主要探討了時滯連續(xù)時間的三階多智能體系統(tǒng)的一致性問題。根據(jù)Laplacian變換和頻域分析法,得到了系統(tǒng)在有向網(wǎng)絡(luò)和無向網(wǎng)絡(luò)假設(shè)下達到一致的的充分或充要條件。第五章,為了使理論結(jié)果更加完善,本章我們主要探討了離散時間的三階多智能體系統(tǒng)的一致性問題。通過降階的方法,把原系統(tǒng)降階,從而把研究問題變成了解決變換后的降階系統(tǒng)的穩(wěn)定性問題。再根據(jù)代數(shù)圖理論和矩陣理論以及復(fù)系數(shù)多項式穩(wěn)定性判據(jù),建立了系統(tǒng)在有向網(wǎng)絡(luò)條件下達到一致的充要條件。第六章,對本文的工作進行總結(jié)與展望。簡要歸納本文工作,總結(jié)創(chuàng)新點,并對本文今后的研究給出一些想法與展望。
[Abstract]:In the past decade, more and more people are interested in the discussion of the multi-agent system, which is due to the extensive application of the multi-agent system in the real world, such as the UAV, the multi vehicle robot system, the autonomous underwater submarine and the network control in the information. The discussion of consistency has always been a key core issue in the present society. On this aspect, people begin to discuss the simple first order system. With the in-depth consideration of the first order system, scholars have gradually begun to explore the two order system, until now only a few people are going to study the three order and the higher order. Therefore, the theoretical results of the unification of the first and two order systems on the unity of the multi-agent system are much richer and more perfect than the three and the higher order systems. In view of the practical application in life and in order to make the theoretical results better, this paper discusses a relatively simple and special article. The consistency of the higher order system, that is, the consistency of the three order multi-agent system. In this paper, we mainly focus on the consistency problem of the three order multi-agent systems with time delay and time delay and the time delay discrete time three order multi-agent systems. The main contents and contributions are as follows: the first chapter, a brief introduction of the intelligence is given. In the second chapter, in order to simplify and unify the whole article, we simply introduce some basic knowledge and symbolic representation of the graph. In the third chapter, we mainly discuss the consistency of the three order multi-agent system without time-delay and continuous time. According to the theoretical knowledge of algebraic graph, the Hurwitz criterion and the stability criterion of the polynomial of complex coefficients, the eigenvalues of the system matrix are analyzed, and the necessary and sufficient conditions for the system to reach the consistency under the assumption of the directed and undirected graphs are obtained. In the fourth chapter, on the basis of the results in the third chapter, we mainly discuss this chapter. The consistency problem of three order multi agent systems with time delay. According to the Laplacian transformation and frequency domain analysis, the sufficient or necessary conditions for the system to reach the same agreement under the assumption of the directed network and the undirected network are obtained. The fifth chapter, in order to make the theoretical results more perfect, we mainly discuss the three order multi intelligence of the discrete time. In order to reduce the order of the original system by the reduced order method, the research problem is transformed into the stability problem of the reduced order system after the transformation. Then, the necessary and sufficient conditions for the system to achieve consistency under the conditions of the directed network are established according to the algebraic graph theory and the matrix theory and the stability criterion of the complex coefficient polynomial. The six chapter summarizes the work of this paper, summarizes the work of this paper, summarizes the innovation points, and gives some ideas and prospects for future research in this paper.

【學(xué)位授予單位】：濟南大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP18

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本文編號：1866185