分?jǐn)?shù)階多智能體系統(tǒng)一致性控制研究
發(fā)布時間：2018-10-15 19:53
【摘要】：整數(shù)階系統(tǒng)在描述帶有記憶性材料和黏滯性材料會出現(xiàn)不穩(wěn)定和不能反映其本身性能的局限,科學(xué)家們發(fā)現(xiàn)分?jǐn)?shù)階系統(tǒng)描述這類材料時穩(wěn)定性和本身性能得到了很好的反映,因此近幾年科學(xué)家們開始研究分?jǐn)?shù)階系統(tǒng),并在分?jǐn)?shù)階機(jī)器人和電路有著廣泛的應(yīng)用.一致性問題是多智能系統(tǒng)研究的一個熱點(diǎn)也是一個最基本的問題,主要通過多智能體之間的信息交流,根據(jù)它們之間的信息交流設(shè)計控制器,使得系統(tǒng)的狀態(tài)到達(dá)一致.本碩士論文主要研究分?jǐn)?shù)階多智能體系統(tǒng)一致性問題,論文的安排如下:第一章介紹了分?jǐn)?shù)階系統(tǒng)的背景發(fā)展以及應(yīng)用前景,并且也對分?jǐn)?shù)階微積分進(jìn)行了簡單的介紹.以及對本文所需的預(yù)備知識進(jìn)行了介紹.第二章研究了有向圖下分?jǐn)?shù)階多智能體系統(tǒng)基于觀測器的一致性.通過假設(shè)狀態(tài)信息不可測量而輸出信息可以測量,構(gòu)造三種類型的基于觀測器的一致性協(xié)議.通過圖論,矩陣論和李亞普諾夫方法等數(shù)學(xué)知識,得到了分?jǐn)?shù)階多智能系統(tǒng)到達(dá)一致的充分條件.第三章研究了帶有領(lǐng)導(dǎo)的分?jǐn)?shù)階多智能系統(tǒng)追蹤問題.每個分?jǐn)?shù)階動力系統(tǒng)都是同質(zhì)的和包含未知的非線性項.在拓?fù)鋱D是無向的,非線性項能通過神經(jīng)網(wǎng)絡(luò)參數(shù)化的假設(shè)條件下,運(yùn)用自適應(yīng)學(xué)習(xí)的方法處理非線性動力系統(tǒng),基于此構(gòu)造協(xié)作跟蹤協(xié)議.通過解出黎卡迪方程得出反饋增益矩陣.同時構(gòu)建一個完全分布式的自適應(yīng)協(xié)議,自適應(yīng)率用來調(diào)節(jié)耦合權(quán)重.設(shè)計相應(yīng)的控制率,并且證明了所有閉環(huán)信號是一致有界的.第四章研究了在有向拓?fù)湎碌耐耆植际降牟淮_定非線性系統(tǒng)的追蹤問題.基于狀態(tài)信息的分布式協(xié)議下,利用神經(jīng)網(wǎng)絡(luò)去學(xué)習(xí)不確定非線性項,最終跟蹤到了領(lǐng)導(dǎo).同時也設(shè)計了基于觀測器的跟蹤協(xié)議.最終在此協(xié)議下跟蹤到了領(lǐng)導(dǎo).得出了所有閉環(huán)信號都是一致有界的結(jié)論,并且追蹤誤差和基于觀測器的追蹤誤差收斂到一個很小的鄰域.第五章論文小結(jié)與展望。
[Abstract]:Integer order systems describe the instability of materials with memory and viscosity and the limitations that do not reflect their own properties. Scientists have found that the stability and properties of fractional order systems in describing such materials are well reflected. In recent years, scientists have begun to study fractional order systems, and have been widely used in fractional robots and circuits. The consistency problem is a hot topic and the most basic problem in the research of multi-intelligent system. The controller is designed according to the information exchange between the multi-agents to make the state of the system consistent. In this thesis, the consistency of fractional multi-agent system is studied. The arrangement of the thesis is as follows: chapter 1 introduces the background development and application prospect of fractional order system, and also introduces fractional calculus briefly. And the preparatory knowledge needed in this paper is introduced. In chapter 2, the observer-based consistency of fractional-order multi-agent systems under directed graph is studied. Based on the assumption that state information is unmeasurable and output information can be measured, three types of observer based consistency protocols are constructed. By means of mathematical knowledge such as graph theory matrix theory and Lyapunov method sufficient conditions are obtained for fractional multi-intelligent systems to reach consistency. In chapter 3, the problem of fractional order multi-intelligent system tracking with leadership is studied. Every fractional dynamical system is homogeneous and contains unknown nonlinear terms. Under the assumption that the topological graph is undirected and the nonlinear term can be parameterized by neural network, the adaptive learning method is used to deal with the nonlinear dynamic system, based on which a cooperative tracking protocol is constructed. The feedback gain matrix is obtained by solving the Riccardy equation. At the same time, a fully distributed adaptive protocol is constructed, and the adaptive rate is used to adjust the coupling weight. The corresponding control rate is designed and it is proved that all closed loop signals are uniformly bounded. In chapter 4, the tracing problem of fully distributed uncertain nonlinear systems under directed topology is studied. Under the distributed protocol based on state information, neural network is used to learn the uncertain nonlinear term, and finally the leader is tracked. An observer based tracking protocol is also designed. Finally, the leader was tracked under this agreement. It is concluded that all closed-loop signals are uniformly bounded, and the tracking error based on observer converge to a small neighborhood. The fifth chapter is the summary and prospect of the thesis.
【學(xué)位授予單位】：溫州大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP18;TP13
[Abstract]:Integer order systems describe the instability of materials with memory and viscosity and the limitations that do not reflect their own properties. Scientists have found that the stability and properties of fractional order systems in describing such materials are well reflected. In recent years, scientists have begun to study fractional order systems, and have been widely used in fractional robots and circuits. The consistency problem is a hot topic and the most basic problem in the research of multi-intelligent system. The controller is designed according to the information exchange between the multi-agents to make the state of the system consistent. In this thesis, the consistency of fractional multi-agent system is studied. The arrangement of the thesis is as follows: chapter 1 introduces the background development and application prospect of fractional order system, and also introduces fractional calculus briefly. And the preparatory knowledge needed in this paper is introduced. In chapter 2, the observer-based consistency of fractional-order multi-agent systems under directed graph is studied. Based on the assumption that state information is unmeasurable and output information can be measured, three types of observer based consistency protocols are constructed. By means of mathematical knowledge such as graph theory matrix theory and Lyapunov method sufficient conditions are obtained for fractional multi-intelligent systems to reach consistency. In chapter 3, the problem of fractional order multi-intelligent system tracking with leadership is studied. Every fractional dynamical system is homogeneous and contains unknown nonlinear terms. Under the assumption that the topological graph is undirected and the nonlinear term can be parameterized by neural network, the adaptive learning method is used to deal with the nonlinear dynamic system, based on which a cooperative tracking protocol is constructed. The feedback gain matrix is obtained by solving the Riccardy equation. At the same time, a fully distributed adaptive protocol is constructed, and the adaptive rate is used to adjust the coupling weight. The corresponding control rate is designed and it is proved that all closed loop signals are uniformly bounded. In chapter 4, the tracing problem of fully distributed uncertain nonlinear systems under directed topology is studied. Under the distributed protocol based on state information, neural network is used to learn the uncertain nonlinear term, and finally the leader is tracked. An observer based tracking protocol is also designed. Finally, the leader was tracked under this agreement. It is concluded that all closed-loop signals are uniformly bounded, and the tracking error based on observer converge to a small neighborhood. The fifth chapter is the summary and prospect of the thesis.
【學(xué)位授予單位】：溫州大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP18;TP13
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