【摘要】：近年來,多智能體系統(tǒng)的協(xié)調(diào)控制問題已經(jīng)引起了不同學(xué)科領(lǐng)域研究人員的廣泛興趣。多智能體協(xié)調(diào)控制是由多個單個智能體組成的多智能體系統(tǒng),用來解決單個個體不能完成復(fù)雜任務(wù)的情況,它的主要目標(biāo)是通過設(shè)計合適的分布式控制協(xié)議,使得每個個體通過與其鄰居發(fā)生信息交互并實時更新自己的狀態(tài),完成特定的行為,比如編隊控制,聚集,一致性等。一致性問題是多智能體協(xié)調(diào)控制的基礎(chǔ)問題,在多智能體系統(tǒng)中,可能會存在一個或多個領(lǐng)航智能體的情況,在只有一個領(lǐng)航智能體的情況下,該問題就演變成了領(lǐng)航—跟隨一致性問題;當(dāng)存在多個領(lǐng)航智能體時,就變成了包含控制問題。由于多智能體協(xié)調(diào)控制的廣泛發(fā)展,在許多領(lǐng)域都有很廣泛的應(yīng)用,在實際應(yīng)用中,由于本質(zhì)非線性、外部擾動等因素的存在,多智能體系統(tǒng)主要表現(xiàn)為非線性特性。因此,非線性多智能體系統(tǒng)的領(lǐng)航—跟隨一致性問題和包含控制問題的研究更有意義和實用價值。論文工作主要基于圖論、矩陣論、Lyapunov穩(wěn)定性定理以及滑模變結(jié)構(gòu)控制理論等知識,研究了具有外部擾動的二階非線性多智能體系統(tǒng)的有限時間一致性問題和包含控制問題。首先,以帶有外部干擾的二階非線性多智能體為研究對象,考慮了固定拓?fù)浣Y(jié)構(gòu)和切換拓?fù)浣Y(jié)構(gòu)兩種情況,結(jié)合二階超螺旋滑模控制算法設(shè)計了分布式一致性協(xié)議,并利用滑�？刂评碚摵蚅yapunov有限時間穩(wěn)定性定理,給出了領(lǐng)航—跟隨多智能體系統(tǒng)在有限時間內(nèi)使得跟隨智能體與領(lǐng)航智能體達到一致的條件。分別對兩種拓?fù)浣Y(jié)構(gòu)進行仿真實驗,驗證了所提出算法的準(zhǔn)確性和有效性。然后,針對具有外部擾動的二階非線性多智能體系統(tǒng),研究了有限時間包含控制問題。利用二階超螺旋滑�？刂扑惴▉碓O(shè)計分布式控制協(xié)議,使得該系統(tǒng)實現(xiàn)包含控制。論文工作主要針對靜態(tài)領(lǐng)航和動態(tài)領(lǐng)航兩種情況進行了研究。對于靜態(tài)領(lǐng)航來說,只需要驅(qū)使跟隨智能體在有限的時間內(nèi)到達由靜止的領(lǐng)航智能體圍成的區(qū)域內(nèi),并在此區(qū)域內(nèi)一直保持靜止?fàn)顟B(tài)。不同于靜態(tài)領(lǐng)航,動態(tài)領(lǐng)航相對來說更為復(fù)雜,論文工作主要考慮了領(lǐng)航智能體勻速變化的情況,跟隨智能體根據(jù)給定的網(wǎng)絡(luò)拓?fù)浣Y(jié)構(gòu),在文中所提出控制算法的作用下,通過與其相鄰智能體互相通信,并實時更新自己狀態(tài),使得跟隨智能體可以到達由動態(tài)領(lǐng)航智能體所圍成的動態(tài)凸包中,從而實現(xiàn)包含控制。最后通過系統(tǒng)仿真驗證了所提二階超螺旋滑�？刂扑惴ǖ恼_性和有效性。
[Abstract]:In recent years, the coordinated control of multi-agent systems has attracted extensive interest of researchers in different disciplines. Multi-agent coordinated control is a multi-agent system composed of multiple single agents, which is used to solve the problem that a single individual cannot complete complex tasks. Its main goal is to design a suitable distributed control protocol. Each individual can exchange information with its neighbors and update their state in real time to accomplish certain behaviors, such as formation control, aggregation, consistency and so on. Consistency problem is the basic problem of multi-agent coordinated control. In multi-agent system, there may be one or more pilot agents, in which there is only one pilot agent. The problem becomes the piloting-follow consistency problem, and when there are more than one pilot agent, it becomes the inclusive control problem. Because of the extensive development of multi-agent coordinated control, it has been widely used in many fields. In practical applications, the multi-agent system is mainly nonlinear because of the existence of essential nonlinear and external disturbances. Therefore, the study of piloting-follower consistency problem and control problem in nonlinear multi-agent systems is more meaningful and practical. Based on graph theory, matrix theory Lyapunov stability theorem and sliding mode variable structure control theory, the finite time consistency problem and inclusion control problem of second order nonlinear multi-agent systems with external disturbances are studied in this paper. Firstly, taking the second order nonlinear multi-agent with external interference as the research object, considering the fixed topology and switching topology, the distributed consistency protocol is designed based on the second-order superspiral sliding mode control algorithm. By using the sliding mode control theory and the Lyapunov finite time stability theorem, the conditions for the piloting-follow multi-agent system to achieve consistency between the following agent and the pilot agent in the finite time are given. Simulation experiments on two topologies are carried out to verify the accuracy and effectiveness of the proposed algorithm. Then, the finite time inclusion control problem is studied for the second order nonlinear multi-agent systems with external disturbances. The distributed control protocol is designed by using the second order superspiral sliding mode control algorithm, which makes the system include control. This paper mainly focuses on static and dynamic pilotage. For the static pilotage, it is only necessary to drive the following agent to the area surrounded by the stationary pilot agent in a limited time, and to keep the static state in this area. Different from static pilotage, dynamic pilotage is more complex than static pilotage. This paper mainly considers the constant velocity change of pilotage agent, and follows the agent according to the given network topology, under the action of the proposed control algorithm in this paper. By communicating with its adjacent agents and updating its state in real time, the following agent can reach the dynamic convex hull surrounded by the dynamic pilot agent, and thus realize the inclusion control. Finally, the correctness and effectiveness of the proposed second order superspiral sliding mode control algorithm are verified by system simulation.
【學(xué)位授予單位】：重慶大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP18;TP13

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