發(fā)布時(shí)間：2018-07-18 09:36

【摘要】：協(xié)調(diào)控制從近幾十年到如今,多智能體的協(xié)調(diào)控制問(wèn)題受到了來(lái)自不同領(lǐng)域?qū)W者的關(guān)注。蜂擁控制作為由群體行為抽象而衍生出的一門新興學(xué)科和研究方向,它對(duì)自然界的群體行為進(jìn)行了很好的理論解釋和數(shù)學(xué)說(shuō)明。蜂擁控制具有與群體行為相同的性質(zhì),分別是協(xié)調(diào)性和自組織性,它在多機(jī)器人系統(tǒng)和多無(wú)人機(jī)系統(tǒng)等領(lǐng)域具有很好的應(yīng)用前景。一致性研究作為協(xié)調(diào)控制的基礎(chǔ)理論研究,指每個(gè)智能體之間通過(guò)局部的信息耦合作用而達(dá)到整體的狀態(tài)量一致。在現(xiàn)實(shí)生活中,由于每個(gè)智能體的個(gè)體差異性或者任務(wù)的原因,它們的系統(tǒng)結(jié)構(gòu)會(huì)有所不同進(jìn)而去完成不同的任務(wù)。因此在同一個(gè)多智能體系統(tǒng)(MAS,MultiAgent System)中,各個(gè)智能體所涉及到的動(dòng)力學(xué)方程也會(huì)有所差異。本文中,異構(gòu)MAS是指由多個(gè)不同動(dòng)力學(xué)方程(階數(shù))的智能體組成的系統(tǒng)。在現(xiàn)實(shí)生活中,由于丟包等原因,使得MAS普遍具有時(shí)間上的延遲。因此,研究具有時(shí)延的異構(gòu)MAS的一致性問(wèn)題具有較大的現(xiàn)實(shí)意義和實(shí)用價(jià)值。本文基于自組織運(yùn)動(dòng),以異構(gòu)MAS為研究對(duì)象,研究帶有時(shí)延的異構(gòu)MAS自組織運(yùn)動(dòng)的一致性。首先,本文分別介紹了靜態(tài)、動(dòng)態(tài)、平均和分組一致性的定義;然后,將本論文分為連續(xù)異構(gòu)MAS和離散異構(gòu)MAS兩大方面來(lái)進(jìn)行一致性分析。在連續(xù)和離散異構(gòu)MAS中,主要研究由一階和二階智能體組成的異構(gòu)MAS和由一階、二階和高于二階的智能體組成的高階異構(gòu)MAS的一致性。在由一階和二階智能體組成的異構(gòu)MAS中,本文分別用頻域法和非負(fù)矩陣法證明系統(tǒng)達(dá)到了靜態(tài)一致;在高階異構(gòu)MAS中,本文首先提出帶有時(shí)延的控制協(xié)議,然后用非負(fù)矩陣法證明系統(tǒng)到達(dá)了靜態(tài)一致。最后,本文分別對(duì)其不同的系統(tǒng)進(jìn)行建模仿真,通過(guò)仿真結(jié)果來(lái)判斷本文所得結(jié)果的正確性。本文的主要貢獻(xiàn)是研究了帶有時(shí)延的異構(gòu)MAS的一致性問(wèn)題,特別是用非負(fù)矩陣法來(lái)研究高階異構(gòu)MAS的一致性問(wèn)題,填補(bǔ)了這一塊的學(xué)術(shù)空缺。在連續(xù)異構(gòu)MAS和離散異構(gòu)MAS的研究中,我們主要將文獻(xiàn)[1]和文獻(xiàn)[2]進(jìn)行了創(chuàng)新并且改進(jìn)了他們所得的結(jié)論,主要將系統(tǒng)從二階MAS轉(zhuǎn)變?yōu)橛梢浑A和二階的異構(gòu)MAS,從而增加了系統(tǒng)分析的難度,并且將Laplacian矩陣重新定義,得出了更為復(fù)雜的系統(tǒng)矩陣。最后本文得到了滿足系統(tǒng)達(dá)到一致性的充分條件,也就是滿足系統(tǒng)達(dá)到一致性的最大時(shí)延。
[Abstract]:From recent decades to now, the coordinated control of multi-agent has been concerned by scholars from different fields. As a new subject and research direction derived from the abstraction of group behavior, swarm control provides a good theoretical and mathematical explanation for the group behavior in nature. Swarm control has the same properties as group behavior, which are coordination and self-organization, respectively. It has a good application prospect in the fields of multi-robot system and multi-UAV system. As the basic theory of coordinated control, consistency research means that the state of each agent is consistent by local information coupling. In real life, because of the individual difference of each agent or the reason of task, their system structure will be different to complete different tasks. Therefore, in the same multi-agent system, the dynamic equations involved in each agent will be different. In this paper, heterogeneous MAS is a system composed of agents with different dynamic equations (orders). In real life, due to packet loss and other reasons, MAS generally has time delay. Therefore, it is of great practical significance and practical value to study the consistency of heterogeneous MAS with delay. In this paper, based on self-organizing motion, the consistency of heterogeneous MAS self-organizing motion with time delay is studied. First, this paper introduces the definitions of static, dynamic, average and group consistency, and then, this paper is divided into continuous heterogeneous MAS and discrete heterogeneous MAS to analyze the consistency. In continuous and discrete heterogeneous MAS, the consistency of heterogeneous MAS composed of first and second order agents and high order heterogeneous MAS composed of first order, second order and higher order agents is studied. In heterogeneous MAS composed of first-order and second-order agents, the frequency domain method and non-negative matrix method are used to prove that the system achieves static consistency, and in high-order heterogeneous MAS, a control protocol with delay is first proposed. Then the nonnegative matrix method is used to prove that the system reaches static consistency. Finally, the different systems are modeled and simulated, and the correctness of the results is judged by the simulation results. The main contribution of this paper is to study the consistency problem of heterogeneous MAS with delay, especially the nonnegative matrix method is used to study the consistency problem of high order heterogeneous MAS, which fills the academic gap. In the study of continuous heterogeneous MAS and discrete heterogeneous MAS, we have innovated and improved their conclusions mainly in literature [1] and [2]. The system is mainly changed from second order MAS to first order and second order Isomeric, which increases the difficulty of system analysis, and redefines the Laplacian matrix to obtain a more complex system matrix. Finally, a sufficient condition is obtained to satisfy the consistency of the system, that is, to satisfy the maximum delay of the system to achieve consistency.
【學(xué)位授予單位】：電子科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP18

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本文編號(hào)：2131500