本文選題：非線性多智能體系統(tǒng) + 一致性��； 參考：《曲阜師范大學(xué)》2017年碩士論文

【摘要】：隨著中國(guó)科技的發(fā)展和不斷進(jìn)步,多智能體系統(tǒng)在工程當(dāng)中的應(yīng)用越來(lái)越廣泛,尤其是在航空航天、機(jī)器人等人工智能領(lǐng)域都起著越來(lái)越重要的作用。多智能體系統(tǒng)是由許許多多的智能體之間的自由組合構(gòu)成的。這些智能體能夠?qū)Χ嘧兊沫h(huán)境迅速地做出反應(yīng),并且這些智能體能夠自由交互、互相配合的完成各種復(fù)雜任務(wù)。多智能體具有許多的特性,例如分布性、自主性和協(xié)調(diào)性等的特征,并且擁有著比單個(gè)智能體更高的智能性和處理種種龐大問(wèn)題的能力。因此,對(duì)多智能體系統(tǒng)的跟蹤控制問(wèn)題的研究已經(jīng)成為多智能體系統(tǒng)領(lǐng)域當(dāng)中一個(gè)十分重要的熱點(diǎn)問(wèn)題。然而,如何實(shí)現(xiàn)各個(gè)智能體之間的協(xié)調(diào)合作這個(gè)問(wèn)題是所研究的一個(gè)重點(diǎn)的問(wèn)題。本文研究了已知控制方向的和未知控制方向的非線性多智能體系統(tǒng)的一致性的問(wèn)題。構(gòu)造了一個(gè)新的Lyapunov泛函,按照Lyapunov穩(wěn)定性的理論,導(dǎo)出了非線性多智能體系統(tǒng)的穩(wěn)定性判據(jù)。首先研究的是已知控制方向的一階與二階的非線性多智能體系統(tǒng),然后推廣到了未知控制方向的一階與二階的非線性多智能體系統(tǒng)。所得穩(wěn)定性判據(jù)均可用Matlab中的Simulink仿真驗(yàn)證。本文的主要內(nèi)容分為如下5章:第1章分析了非線性多智能體系統(tǒng)的研究背景及其意義,并且簡(jiǎn)要的介紹了非線性多智能體系統(tǒng)的一致性控制的研究的現(xiàn)狀,給出了本文所要解決的問(wèn)題。第2章簡(jiǎn)要介紹了代數(shù)圖論、矩陣的Kronecker積、Lyapunov穩(wěn)定性理論以及本文需用到的重要引理。第3章首先討論已知控制方向的一階與二階非線性多智能體系統(tǒng)的分布式跟蹤控制。我們使得系統(tǒng)更加的復(fù)雜,首先對(duì)于一階系統(tǒng),設(shè)計(jì)了一個(gè)新的Lyapunov泛函,利用該Lyapunov泛函以及Lyapunov穩(wěn)定性理論導(dǎo)出了穩(wěn)定性判據(jù)。然后推廣到了二階系統(tǒng),進(jìn)而又設(shè)計(jì)了一個(gè)新的Lyapunov泛函,利用該Lyapunov泛函以及Lyapunov穩(wěn)定性理論導(dǎo)出了穩(wěn)定性判據(jù)。最后,做了仿真實(shí)例說(shuō)明了本章所得穩(wěn)定性判據(jù)結(jié)果的正確性。第4章是對(duì)第3章結(jié)果的進(jìn)一步改進(jìn),研究的是未知控制方向的非線性多智能體系統(tǒng)的一致性。首先對(duì)于一階系統(tǒng),設(shè)計(jì)了一個(gè)新的Lyapunov泛函,利用該Lyapunov泛函以及Lyapunov穩(wěn)定性理論導(dǎo)出了穩(wěn)定性判據(jù)。然后推廣到了二階系統(tǒng),進(jìn)而又設(shè)計(jì)了一個(gè)新的Lyapunov泛函,利用該Lyapunov泛函以及Lyapunov穩(wěn)定性理論導(dǎo)出了穩(wěn)定性判據(jù)。最后,做了仿真實(shí)例說(shuō)明了本章所得穩(wěn)定性判據(jù)結(jié)果的準(zhǔn)確性。第5章總結(jié)了本文的主要研究?jī)?nèi)容,并且對(duì)所得的穩(wěn)定性判據(jù)進(jìn)行了一下分析,并對(duì)下一步的研究重心作了進(jìn)一步的展望。
[Abstract]:With the development and continuous progress of science and technology in China, the application of multi-agent systems in engineering is becoming more and more extensive, especially in the fields of artificial intelligence such as aeronautics and Astronautics, robots, and so on. The multi-agent system is composed of the free combination of many many agents. The environment is quick to respond, and these agents can interact freely and cooperate with each other to accomplish a variety of complex tasks. The multi-agent has many characteristics, such as the characteristics of distribution, autonomy and coordination, and has the ability to be more intelligent than a single agent and to deal with a variety of huge problems. The research on the tracking control problem of the energy system has become a very important issue in the field of multi-agent system. However, how to realize the coordination and cooperation between the various agents is a key problem. This paper studies the nonlinear multiple intelligence of the known control direction and the unknown control direction. A new Lyapunov functional is constructed. According to the theory of Lyapunov stability, the stability criterion of the nonlinear multi-agent system is derived. First, the first and two order nonlinear multi-agent systems of the known control direction are studied, and then it is extended to the first and two orders of the unknown control direction. The stability criterion of the nonlinear multi-agent system can be verified by Simulink simulation in Matlab. The main contents of this paper are divided into 5 chapters as follows: the first chapter analyzes the research background and significance of the nonlinear multi-agent system, and briefly introduces the status of the research on the consistency control of the nonlinear multi-agent system, and gives a brief introduction of the status of the research on the consistency control of the nonlinear multi-agent system. The second chapter briefly introduces the algebraic graph theory, the Kronecker product of matrix, the Lyapunov stability theory and the important lemma needed in this paper. The third chapter first discusses the distributed tracking control of the first and two order nonlinear multi-agent systems of the known control direction. In the first order system, a new Lyapunov functional is designed. The stability criterion is derived by using the Lyapunov functional and the Lyapunov stability theory. Then it is generalized to the two order system, and then a new Lyapunov functional is designed. The stability criterion is derived by using the Lyapunov functional and the Lyapunov stability theory. Finally, the imitation is made. The true example shows the correctness of the result of the stability criterion obtained in this chapter. The fourth chapter is the further improvement of the results of the third chapter and the consistency of the nonlinear multi-agent system with unknown control direction. First, a new Lyapunov functional is designed for the first order system, and the Lyapunov functional and the Lyapunov stability theory are used to guide the system. The stability criterion is given. Then it is extended to the two order system, and then a new Lyapunov functional is designed. The stability criterion is derived by using the Lyapunov functional and the Lyapunov stability theory. Finally, a simulation example is made to illustrate the accuracy of the result of the stability criterion obtained in this chapter. The fifth chapter summarizes the main research contents of this paper. The stability criterion is also analyzed, and the future research focus is further prospected.
【學(xué)位授予單位】：曲阜師范大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP18;TP13

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本文編號(hào)：1943876