【摘要】：在過去十幾年里,關(guān)于多智能體系統(tǒng)一致性協(xié)調(diào)控制問題的理論研究和實際應(yīng)用已經(jīng)受到了科學(xué)界更多的重視。解決多智能體系統(tǒng)一致性協(xié)調(diào)控制的關(guān)鍵是:依據(jù)系統(tǒng)分配任務(wù)和性能要求的不同,設(shè)計合適的協(xié)議或算法使得多智能體系統(tǒng)的關(guān)鍵量最終達(dá)到一致。由于多智能體系統(tǒng)可以通過局部的信息交流,來達(dá)到協(xié)調(diào)控制整個系統(tǒng)的目的,很多學(xué)者開始研究它的應(yīng)用價值,包括研究無人機協(xié)同控制、傳感器網(wǎng)絡(luò)的目標(biāo)跟蹤和通訊網(wǎng)絡(luò)的擁塞控制等。目前,關(guān)于多智能體系統(tǒng)的一致性已經(jīng)有了大量的研究成果,但是關(guān)于多智能體系統(tǒng)群一致性的相關(guān)結(jié)論卻相對較少。本文將非負(fù)矩陣?yán)碚�、代�?shù)圖論和Lyapunov穩(wěn)定性理論作為研究工具,對群一致性問題和H_∞群一致性問題展開了研究。本文主要內(nèi)容如下:1.圖達(dá)到平衡條件是使得圖中個體狀態(tài)達(dá)到一致的前提條件,同樣,圖達(dá)到群平衡條件是使得圖中相同群內(nèi)個體狀態(tài)達(dá)到一致的前提條件。本論文針對含有兩個群的有向拓?fù)鋱D和無向拓?fù)鋱D,分別提出兩種不同的群平衡化算法。首先,考慮含有兩個子圖的賦權(quán)有向圖的群平衡化,通過改變某些邊的邊權(quán)值,使得相同群內(nèi)個體在有限步內(nèi)實現(xiàn)群平衡。然后,對于含有兩個子圖的賦權(quán)無向圖群平衡化分為兩種情況進(jìn)行討論:i)含有兩個子圖且子圖間連通的賦權(quán)無向圖的群平衡化;ii)含有兩個子圖且子圖間有s(s＞1)個連通分支的賦權(quán)無向圖的群平衡化。分別得到一個圖可以在有限步后實現(xiàn)群平衡的算法。最終,通過實例仿真驗證結(jié)論的正確性。2.考慮三種情況下的一階連續(xù)多智能體系統(tǒng)H_∞群一致性問題:i)不具有通訊時滯的固定拓?fù)?ii)不具有通訊時滯的切換拓?fù)?iii)具有單時滯的固定拓?fù)�。針對以上三種情形,將原系統(tǒng)轉(zhuǎn)換為一個降階系統(tǒng),再利用Lyapunov穩(wěn)定理論研究降階系統(tǒng)的穩(wěn)定性,從而得到多智能體系統(tǒng)達(dá)到H_∞群一致性的線性矩陣不等式形式的充分條件。通過數(shù)值仿真驗證結(jié)論的正確性。
[Abstract]:In the past ten years, more and more attention has been paid to the theoretical research and practical application of multi-agent system coherence and coordination control. The key to the consistency coordination control of multi-agent system is to design a suitable protocol or algorithm according to the different system assignment tasks and performance requirements so that the key quantity of multi-agent system is consistent. Because the multi-agent system can achieve the purpose of coordinating and controlling the whole system through local information exchange, many scholars have begun to study its application value, including the research of cooperative control of UAV. Target tracking in sensor networks and congestion control in communication networks. At present, there have been a lot of research results on the consistency of multi-agent system, but there are relatively few conclusions about multi-agent system cluster consistency. In this paper, the nonnegative matrix theory, algebraic graph theory and Lyapunov stability theory are used as research tools to study group consistency problem and H _ 鈭，

本文編號：2193976