基于事件驅(qū)動(dòng)的多智能體系統(tǒng)一致性研究
[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
【參考文獻(xiàn)】
相關(guān)期刊論文 前4條
1 關(guān)永強(qiáng);紀(jì)志堅(jiān);張霖;王龍;;多智能體系統(tǒng)能控性研究進(jìn)展[J];控制理論與應(yīng)用;2015年04期
2 朱亞錕;關(guān)新平;羅小元;;線性和非線性動(dòng)態(tài)異構(gòu)多自主體系統(tǒng)的有限時(shí)間一致性(英文)[J];自動(dòng)化學(xué)報(bào);2014年11期
3 閔海波;劉源;王仕成;孫富春;;多個(gè)體協(xié)調(diào)控制問題綜述[J];自動(dòng)化學(xué)報(bào);2012年10期
4 王震宇,高更君,黃衛(wèi);基于多智能主體的高速公路控制系統(tǒng)結(jié)構(gòu)[J];交通運(yùn)輸工程學(xué)報(bào);2003年01期
相關(guān)博士學(xué)位論文 前2條
1 衛(wèi)佳;網(wǎng)絡(luò)化多智能體系統(tǒng)的一致性研究[D];華中科技大學(xué);2013年
2 胡松林;基于事件觸發(fā)機(jī)制的網(wǎng)絡(luò)化控制系統(tǒng)的分析與綜合[D];華中科技大學(xué);2012年
相關(guān)碩士學(xué)位論文 前2條
1 高瀾;分布式事件觸發(fā)技術(shù)在多智能體一致性控制中的應(yīng)用研究[D];重慶大學(xué);2015年
2 傅梓瑛;多智能體理論及其在厚度控制系統(tǒng)中的應(yīng)用研究[D];東北大學(xué);2012年
,本文編號:2452620
本文鏈接:http://sikaile.net/kejilunwen/zidonghuakongzhilunwen/2452620.html