多智能體網(wǎng)絡系統(tǒng)的群體行為研究
發(fā)布時間：2018-08-05 13:09
【摘要】：多智能體網(wǎng)絡系統(tǒng)的群體行為研究是近年來復雜系統(tǒng)研究的一個熱點,吸引著來自計算機科學、智能控制、網(wǎng)絡通訊、數(shù)學、社會科學等各個領域的專家學者廣泛關注。這主要是由于多智能體網(wǎng)絡系統(tǒng)的群體行為研究在無人機協(xié)調(diào)控制、多機器人編隊控制、分布式傳感器網(wǎng)絡、人造衛(wèi)星群位姿調(diào)整及通信網(wǎng)絡擁塞控制等領域的廣泛應用。本文是在前人研究成果基礎上,利用圖論、矩陣分析和控制系統(tǒng)等工具,研究具有非線性性質(zhì)的多智能體網(wǎng)絡系統(tǒng)的群體行為。本文的主要內(nèi)容如下:1.本文研究了一類帶有非線性性質(zhì),而且網(wǎng)絡通訊帶有時滯與非時滯的多智能體系統(tǒng)的穩(wěn)定性分析。在滿足適當條件下,具有無向通信網(wǎng)絡和無時滯的多智能體系統(tǒng)中的多智能體將逐漸聚集并形成有限大小的有界區(qū)域。相比較現(xiàn)有的文獻,我們將吸引力/排斥力函數(shù)推廣到具有某些非線性性質(zhì)的一類函數(shù),從而揭示了多智能體網(wǎng)絡系統(tǒng)內(nèi)部更豐富的自組織動力學行為。2.研究了受外源影響的一類具有非線性性質(zhì)的多智能體系統(tǒng)在時滯和非時滯兩種情況下的協(xié)調(diào)控制問題。對時滯和非時滯兩種情況下受外源影響的對稱系統(tǒng),證明了在滿足適當假設條件的源的作用下的系統(tǒng)的多智能體將逐漸形成有限大小的聚集簇并且估計了有界區(qū)域的大小。進而,在二次型與高斯型的外源下,證明了系統(tǒng)所有多智能體沿著系統(tǒng)中心運動或遠離源的極值。對一般非對稱系統(tǒng)網(wǎng)絡,仿真例子還表明帶常時滯具有一般非線性性質(zhì)的系統(tǒng)因不同的鄰接矩陣和時滯而表現(xiàn)出回旋振蕩或發(fā)散的行為。3.研究了帶領航者的受外源影響的多智能體系統(tǒng)在時滯和非時滯兩種情況下的協(xié)調(diào)控制問題。對于帶領航者的無時滯的受外源影響的多智能體系統(tǒng),滿足適當假設條件時,在領航者智能體的導航作用下,多智能體系統(tǒng)的跟隨者在沒有外源信息的情況下也能準確地到達目標或遠離目標。當多智能體系統(tǒng)在不同外源的條件下聚集時我們估計了有界區(qū)域的大小,有界區(qū)域的大小取決于外源和吸引排斥函數(shù)等的參數(shù)值的大小。而對帶領航者的時滯的受外源影響的多智能體系統(tǒng),也得到類似相應的結(jié)論,我們給出的一些數(shù)值仿真也證明了理論結(jié)果的正確性。
[Abstract]:The research on group behavior of multi-agent network system is a hotspot of complex system research in recent years, which attracts the attention of experts and scholars from computer science, intelligent control, network communication, mathematics, social science and other fields. This is mainly due to the extensive application of swarm behavior research in UAV coordination control, multi-robot formation control, distributed sensor networks, satellite pose adjustment and communication network congestion control. Based on the previous research results, this paper studies the group behavior of multi-agent network systems with nonlinear properties by means of graph theory, matrix analysis and control system. The main contents of this paper are as follows: 1. In this paper, the stability analysis of a class of multi-agent systems with nonlinear properties and network communication with and without delay is studied. Under suitable conditions, the multi-agent in the multi-agent system with undirected communication network and without delay will gradually gather and form a bounded region with limited size. Compared with the existing literatures, we generalize the attraction / repulsion function to a class of functions with some nonlinear properties, thus revealing the richer self-organizing dynamical behavior of the multi-agent network system. The problem of coordinated control for a class of nonlinear multi-agent systems with and without delay is studied. For symmetric systems with time delay and no delay, it is proved that the multi-agent of the system under the action of the source satisfying the proper assumption condition will gradually form a finite cluster and estimate the size of the bounded region. Furthermore, under the exogenous conditions of quadratic type and Gao Si type, it is proved that all multi-agents of the system move along the center of the system or away from the extreme value of the source. For general asymmetric system networks, simulation examples also show that systems with constant delays have general nonlinear properties and exhibit cyclotron oscillation or divergence behavior due to different adjacent matrices and delays. In this paper, the coordinated control problem of a multi-agent system with a pilot under both time-delay and non-time-delay is studied. For a multi-agent system with no delay and no delay, when the appropriate assumptions are satisfied, under the guidance of the navigator agent, The follower of multi-agent system can reach or leave the target accurately without external information. When the multi-agent system aggregates under different exogenous conditions, we estimate the size of the bounded region, and the size of the bounded region depends on the size of the parameter values of the exogenous and attractive rejection functions. A similar conclusion is obtained for the multi-agent system with the delay of the pilot. Some numerical simulations are given to prove the correctness of the theoretical results.
【學位授予單位】：上海大學
【學位級別】：博士
【學位授予年份】：2016
【分類號】：TP18
本文編號：2165893
[Abstract]:The research on group behavior of multi-agent network system is a hotspot of complex system research in recent years, which attracts the attention of experts and scholars from computer science, intelligent control, network communication, mathematics, social science and other fields. This is mainly due to the extensive application of swarm behavior research in UAV coordination control, multi-robot formation control, distributed sensor networks, satellite pose adjustment and communication network congestion control. Based on the previous research results, this paper studies the group behavior of multi-agent network systems with nonlinear properties by means of graph theory, matrix analysis and control system. The main contents of this paper are as follows: 1. In this paper, the stability analysis of a class of multi-agent systems with nonlinear properties and network communication with and without delay is studied. Under suitable conditions, the multi-agent in the multi-agent system with undirected communication network and without delay will gradually gather and form a bounded region with limited size. Compared with the existing literatures, we generalize the attraction / repulsion function to a class of functions with some nonlinear properties, thus revealing the richer self-organizing dynamical behavior of the multi-agent network system. The problem of coordinated control for a class of nonlinear multi-agent systems with and without delay is studied. For symmetric systems with time delay and no delay, it is proved that the multi-agent of the system under the action of the source satisfying the proper assumption condition will gradually form a finite cluster and estimate the size of the bounded region. Furthermore, under the exogenous conditions of quadratic type and Gao Si type, it is proved that all multi-agents of the system move along the center of the system or away from the extreme value of the source. For general asymmetric system networks, simulation examples also show that systems with constant delays have general nonlinear properties and exhibit cyclotron oscillation or divergence behavior due to different adjacent matrices and delays. In this paper, the coordinated control problem of a multi-agent system with a pilot under both time-delay and non-time-delay is studied. For a multi-agent system with no delay and no delay, when the appropriate assumptions are satisfied, under the guidance of the navigator agent, The follower of multi-agent system can reach or leave the target accurately without external information. When the multi-agent system aggregates under different exogenous conditions, we estimate the size of the bounded region, and the size of the bounded region depends on the size of the parameter values of the exogenous and attractive rejection functions. A similar conclusion is obtained for the multi-agent system with the delay of the pilot. Some numerical simulations are given to prove the correctness of the theoretical results.
【學位授予單位】：上海大學
【學位級別】：博士
【學位授予年份】：2016
【分類號】：TP18
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