【摘要】：近年來,關(guān)于多智能體系統(tǒng)的協(xié)調(diào)控制問題越來越受到工程技術(shù)領(lǐng)域和科學(xué)研究領(lǐng)域的關(guān)注。目前,已在無人機編隊、交通控制等領(lǐng)域得到應(yīng)用。多智能體系統(tǒng)控制問題的基本研究包括一致性問題、編隊控制、會和控制和聚結(jié)控制,后三個為一致性問題的推廣。在實際應(yīng)用中,內(nèi)嵌微處理器的多智能體系統(tǒng)能源有限,所以要求系統(tǒng)盡可能地減少能源消耗,保障系統(tǒng)正常運轉(zhuǎn)。多智能體系統(tǒng)傳統(tǒng)的控制方式多為時間驅(qū)動或是周期采樣,存在通信帶寬和計算資源浪費的弊端,有較大的能源消耗。采用事件驅(qū)動的控制方式,可以有效地減少控制器的更新次數(shù),緩解每個個體能量、資源受限的問題。本文重點研究了基于事件驅(qū)動的多智能體系統(tǒng)一致性問題,包括分組一致性和跟蹤一致性兩方面內(nèi)容�；谑录�(qū)動的分組一致性問題,針對無向拓撲下一階和二階多智能體系統(tǒng),采用時間相關(guān)的分散式事件驅(qū)動函數(shù),設(shè)計了事件驅(qū)動分組一致性協(xié)議,依靠矩陣論和線性系統(tǒng)理論知識,得出了系統(tǒng)實現(xiàn)分組一致性需要滿足的代數(shù)條件;然后又將結(jié)果拓展到了帶時延的情況,通過構(gòu)造李雅譜諾夫-克拉索夫斯基(Lyapunov-Krasovskii)函數(shù),以線性矩陣不等式(Linear Matrix Inequality)的形式展現(xiàn)了保證系統(tǒng)實現(xiàn)分組一致性的充分條件。同時,還證明了系統(tǒng)不會發(fā)生奇諾現(xiàn)象。基于事件驅(qū)動的二階多智能體系統(tǒng)的跟蹤一致性問題,從離散系統(tǒng)的角度,針對固定有向拓撲下的二階領(lǐng)導(dǎo)-跟隨多智能體系統(tǒng),采用時間相關(guān)的事件驅(qū)動函數(shù),設(shè)計了相應(yīng)的事件驅(qū)動跟蹤控制協(xié)議和領(lǐng)航者速度觀測器,通過代數(shù)圖論和矩陣論等工具,給出了控制參數(shù)和采樣周期的選擇辦法,得到了使系統(tǒng)實現(xiàn)跟蹤一致性的代數(shù)條件;然后又對切換拓撲的情形做了詳細的分析,通過構(gòu)造李雅譜諾夫(Lyapunov)函數(shù),以線性矩陣不等式的形式給出了保證系統(tǒng)實現(xiàn)跟蹤一致性的充分條件。通過數(shù)值仿真,證實了控制協(xié)議的合理性和驅(qū)動函數(shù)的有效性。
[Abstract]:In recent years, more and more attention has been paid to the coordinated control of multi-agent systems in the field of engineering technology and scientific research. At present, it has been applied in UAV formation, traffic control and other fields. The basic research of multi-agent system control includes consistency problem, formation control, union control and coalescence control. The last three are the generalization of the consistency problem. In practical application, the energy of multi-agent system with embedded microprocessor is limited, so the system is required to reduce the energy consumption as far as possible and ensure the normal operation of the system. The traditional control mode of multi-agent system is time-driven or periodic sampling, which has the disadvantages of communication bandwidth and the waste of computing resources, and has a large energy consumption. Event-driven control can effectively reduce the number of updates of the controller and alleviate the energy and resource constraints of each individual. This paper focuses on the unifying problem of event-driven multi-intelligence architecture, including packet consistency and tracking consistency. Based on event-driven packet consistency problem, an event-driven packet consistency protocol is designed for undirected topology-based first-order and second-order multi-agent systems using time-dependent decentralized event-driven functions. Based on the knowledge of matrix theory and linear system theory, the algebraic conditions that need to be satisfied to realize the group consistency of the system are obtained. Then, the result is extended to the case with delay. By constructing the Lyapunov-Krasovskii function, the sufficient conditions to ensure the packet consistency of the system are presented in the form of linear matrix inequality (Linear Matrix Inequality). At the same time, it is proved that the Chino phenomenon will not occur in the system. Based on the problem of tracking consistency of event-driven second-order multi-agent systems, the time-dependent event-driven function is used for the second-order leader-follower multi-agent systems in fixed directed topology from the point of view of discrete system. The corresponding event-driven tracking control protocol and navigator velocity observer are designed. By means of algebraic graph theory and matrix theory, the selection method of control parameters and sampling period is given, and the algebraic conditions to make the system realize tracking consistency are obtained. Then the switching topology is analyzed in detail. By constructing Lyapunov (Lyapunov) function, the sufficient conditions to ensure the tracking consistency of the system are given in the form of linear matrix inequality (LMI). The rationality of the control protocol and the validity of the driving function are verified by numerical simulation.
【學(xué)位授予單位】：華北電力大學(xué)(北京)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP18

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