本文選題：多智能體系統(tǒng) + 一致性控制��； 參考：《北京理工大學(xué)》2015年博士論文

【摘要】：本文重點(diǎn)針對(duì)線性/非線性多智能體系統(tǒng)的一致性問題,開展了基于事件驅(qū)動(dòng)和分布式協(xié)同的一致性控制算法研究。針對(duì)線性連續(xù)時(shí)間同構(gòu)多智能體系統(tǒng)一致性控制中的連續(xù)通信問題,研究了基于事件觸發(fā)預(yù)估狀態(tài)反饋控制策略的分布式協(xié)同控制算法。提出了僅依賴于少數(shù)離散點(diǎn)通信的一致性控制律,使得智能體網(wǎng)絡(luò)的狀態(tài)趨于相同,且不發(fā)生Zeno現(xiàn)象,將傳統(tǒng)的智能體間連續(xù)通信改善為某些離散時(shí)間點(diǎn)通信。提出了自觸發(fā)預(yù)估狀態(tài)反饋控制器,消除了智能體連續(xù)監(jiān)測(cè)自身狀態(tài)的限制。提出了基于觀測(cè)器的事件觸發(fā)預(yù)估輸出反饋一致性控制器,解決了輸出反饋情形下的一致性控制問題。針對(duì)線性離散時(shí)間同構(gòu)多智能體系統(tǒng)一致性控制中的周期性通信問題,研究了事件觸發(fā)預(yù)估狀態(tài)反饋一致性控制算法。提出了僅依賴于少數(shù)采樣點(diǎn)通信的一致性控制律,使得智能體網(wǎng)絡(luò)的狀態(tài)趨于相同,且不發(fā)生類Zeno現(xiàn)象,將傳統(tǒng)智能體間的周期性通信改善為某些采樣時(shí)間點(diǎn)通信。提出了自觸發(fā)預(yù)估狀態(tài)反饋控制器,消除了智能體周期性監(jiān)測(cè)自身狀態(tài)的限制。同樣為狀態(tài)不可測(cè)的情形,提出了基于觀測(cè)器的事件觸發(fā)預(yù)估輸出反饋一致性控制器。研究了線性異構(gòu)多智能體系統(tǒng)的事件驅(qū)動(dòng)一致性控制算法�；趦�(nèi)參考模型和觀測(cè)器的思想,提出了無外部干擾情形下的事件觸發(fā)預(yù)估反饋一致性控制器,使得智能體的輸出趨于相同。針對(duì)存在匹配外部干擾的情形,基于狀態(tài)反饋提出一種切換控制律,使得智能體在抑制干擾的同時(shí)實(shí)現(xiàn)事件驅(qū)動(dòng)輸出一致,且不發(fā)生Zeno現(xiàn)象。研究了多Lagrangian系統(tǒng)的事件驅(qū)動(dòng)一致性控制問題�；谳o助狀態(tài)測(cè)量誤差和觸發(fā)函數(shù),提出了事件驅(qū)動(dòng)一致性控制律,使得多Lagrangian系統(tǒng)的廣義位置能夠趨于一致,廣義速度趨于零,并且不會(huì)發(fā)生Zeno現(xiàn)象,很大程度上節(jié)省了通信資源。此外,對(duì)于常值參數(shù)未知的情況,研究了多機(jī)器人系統(tǒng)的事件驅(qū)動(dòng)集結(jié)一致問題,使得僅通過有限離散點(diǎn)的通信,機(jī)器人系統(tǒng)的位置趨于一致,速度趨于零。研究了基于Lagrangian模型的多航天器分布式姿態(tài)跟蹤控制問題。從航天器姿態(tài)系統(tǒng)出發(fā),針對(duì)領(lǐng)導(dǎo)者的控制輸入可能為非零,有界且對(duì)跟隨者未知的情形,對(duì)每個(gè)跟隨者提出分布式非連續(xù)自適應(yīng)控制器,使得跟隨者和領(lǐng)導(dǎo)者的姿態(tài)誤差收斂到零。針對(duì)非連續(xù)控制器造成的抖振問題,基于邊界層理論和σ修正提出了分布式連續(xù)自適應(yīng)控制器。針對(duì)外部擾動(dòng)和未建模動(dòng)態(tài)問題,提出了分布式魯棒姿態(tài)跟蹤控制器,使得領(lǐng)導(dǎo)者航天器和跟隨者航天器之間的組合誤差漸近收斂到零。將航天器模型轉(zhuǎn)化為廣義的Lagrangian模型,研究了分布式自適應(yīng)姿態(tài)跟蹤控制問題。研究了多Lagrangian系統(tǒng)的分布式包含控制問題�；诜植际交Ｓ^測(cè)器提出非完全和完全兩種分布式自適應(yīng)滑�？刂扑惴�,其中后者去除了需要每個(gè)跟隨者知道領(lǐng)導(dǎo)者狀態(tài)導(dǎo)數(shù)的上界和其他全局信息的限制,解決了無向圖下考慮參數(shù)不確定性和外部干擾的具有多個(gè)領(lǐng)導(dǎo)者的多Lagrangian系統(tǒng)分布式包含控制問題。
[Abstract]:This paper focuses on the consistency problem of linear / nonlinear multi-agent systems, and develops a conformance control algorithm based on event driven and distributed collaboration. In order to solve the problem of continuous communication in the unified control of linear continuous time isomorphic multi intelligence system, the point based state feedback control strategy based on event triggering is studied. A conformance control law which only relies on a few discrete point communication is proposed, which makes the state of the intelligent body network tend to be the same, without Zeno phenomenon, and improves the traditional inter body continuous communication to some discrete time point communication. A self triggered pre estimation state feedback controller is proposed to eliminate the continuity of the agent. An observer based event trigger prediction output feedback conformance controller is proposed, which solves the conformance control problem in the output feedback situation. The state feedback consistency of event triggered predictive state feedback is studied for the periodic communication problem in the unified multiple intelligence system of linear discrete time isomorphic multi intelligence system. A conformance control law, which only relies on a few sampling points communication, makes the state of the intelligent network tend to be the same and does not have the class Zeno phenomenon. The periodic communication between the traditional agents is improved to some sampling time communication. A self triggering predicate state feedback controller is proposed to eliminate the periodic monitoring of the agent. The limit of self state is measured. Also, an observer based event trigger prediction output feedback conformance controller is proposed. The event driven conformance control algorithm for linear heterogeneous multi-agent systems is studied. Based on the idea of the internal reference model and observer, an event touch without external interference is proposed. The output of the feedback conformance controller makes the output of the agent tend to be the same. Based on state feedback, a switching control law is proposed based on state feedback, which makes the agent realize the event driven output consistent while the interference is suppressed, and does not occur Zeno image. The event driven consistency of the multi Lagrangian system is studied. The problem of sexual control. Based on the auxiliary state measurement error and the trigger function, the event driven conformance control law is proposed, which makes the generalized position of the multi Lagrangian system tend to be consistent, the generalized velocity tends to zero, and the Zeno phenomenon will not occur, and the communication resources are saved to a great extent. In addition, the case of unknown constant value parameters is studied. The event driven aggregation problem of multi robot system makes the position of the robot system tend to be consistent and the speed tends to zero through the communication of the finite discrete points. The distributed attitude tracking control problem of multi spacecraft based on Lagrangian model is studied. From the attitude system of the spacecraft, the control input for the leader may be not. A distributed non continuous adaptive controller is proposed for each follower to make the follower and leader's attitude error converge to zero. For the buffeting problem caused by the discontinuous controller, a distributed continuous adaptive controller is proposed based on the boundary layer theory and the sigma correction. The distributed robust attitude tracking controller is proposed, which makes the combination error between the leader spacecraft and the follower spacecraft converge to zero asymptotically. The spacecraft model is transformed into a generalized Lagrangian model, and the distributed adaptive attitude tracking control problem is studied. The distribution of the multi Lagrangian system is studied. It includes control problem. Based on distributed sliding mode observer, two distributed adaptive sliding mode control algorithms are proposed, in which the latter eliminates the limit of the upper bound and other global information that requires each follower to know the leader's state derivative, and solves the uncertainty of parameters and the external interference in the undirected graph. A leader's multi Lagrangian system contains distributed control problems.

【學(xué)位授予單位】：北京理工大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2015
【分類號(hào)】：TP13;TP18

【共引文獻(xiàn)】

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本文編號(hào)：1855424