【摘要】：多智能體系統(tǒng)能為規(guī)模巨大、個(gè)體之間的關(guān)系復(fù)雜的實(shí)際復(fù)雜大系統(tǒng)提供很好的建模和控制方式,有著廣泛的工業(yè)和實(shí)際應(yīng)用潛力。因此,近年來(lái),多智能體協(xié)調(diào)控制作為復(fù)雜系統(tǒng)和控制科學(xué)領(lǐng)域的前沿課題被人們關(guān)注。由于時(shí)變拓?fù)浣Y(jié)構(gòu)下的非線性多智能體系統(tǒng)極其復(fù)雜,研究起來(lái)十分困難,所以目前對(duì)于多智能體一致性的研究中同時(shí)考慮非線性和連續(xù)時(shí)變拓?fù)浣Y(jié)構(gòu)的研究成果還不是太多。但是這種系統(tǒng)存在十分重大的實(shí)際研究意義,因?yàn)榇蠖鄶?shù)的實(shí)際系統(tǒng)都含有非線性性質(zhì),而且,在智能體運(yùn)動(dòng)過程中,各個(gè)智能體之間由于速度不同,相對(duì)距離會(huì)實(shí)時(shí)變化,由于無(wú)線通信距離有限及無(wú)線通信本身的不穩(wěn)定因素等都會(huì)引起多智能體之間通信拓?fù)浣Y(jié)構(gòu)發(fā)生實(shí)時(shí)變化,所以研究非線性多智能體系統(tǒng)在時(shí)變拓?fù)浣Y(jié)構(gòu)下的追蹤問題具有十分重要的意義。具體來(lái)說(shuō),本課題的研究?jī)?nèi)容主要有以下幾個(gè)方面：(1)研究一階、二階及高階非線性連續(xù)時(shí)變拓?fù)浣Y(jié)構(gòu)下多智能體追蹤問題。對(duì)移動(dòng)目標(biāo)和追蹤智能體動(dòng)力學(xué)模型分別為一階、二階和高階非線性模型情況時(shí)多智能體系統(tǒng)在連續(xù)時(shí)變拓?fù)浣Y(jié)構(gòu)下的一致性追蹤問題進(jìn)行了研究,通過應(yīng)用圖論和矩陣分析的方法,對(duì)系統(tǒng)通信拓?fù)浣Y(jié)構(gòu)的Laplacian矩陣進(jìn)行分析得到關(guān)于其特征值的成功追蹤條件。連續(xù)時(shí)變拓?fù)浣Y(jié)構(gòu)指多智能體系統(tǒng)的拓?fù)浣Y(jié)構(gòu)發(fā)生連續(xù)性變化,而不是在幾個(gè)固定的拓?fù)浣Y(jié)構(gòu)之間切換的變拓?fù)洹?2)應(yīng)用polytopic模型描述連續(xù)時(shí)變拓?fù)浣Y(jié)構(gòu)。將時(shí)變拓?fù)浣Y(jié)構(gòu)的Laplacian矩陣應(yīng)用polytopic模型來(lái)表示,即將時(shí)變的拓?fù)浣Y(jié)構(gòu)建模為有限數(shù)量的確定Laplacian矩陣和相應(yīng)的調(diào)度函數(shù)的組合,該模型的引入使得時(shí)變拓?fù)浣Y(jié)構(gòu)下的多智能體系統(tǒng)追蹤策略的存在性轉(zhuǎn)化為線性矩陣不等式的可解性。(3)研究帶延時(shí)的高階多智能體系統(tǒng)追蹤問題。高階系統(tǒng)指的是3階及其以上的系統(tǒng),例如系統(tǒng)中除了位置、速度、加速度外,還存在急動(dòng)度。實(shí)際系統(tǒng)中多個(gè)智能體之間傳輸信息通過無(wú)線通信,傳輸需要一定時(shí)間,甚至出現(xiàn)傳輸失敗,這導(dǎo)致了延時(shí)的出現(xiàn)。所以帶延時(shí)的高階系統(tǒng)的多智能體系統(tǒng)研究具有很實(shí)際的意義。研究中發(fā)現(xiàn),延時(shí)的存在不一定就會(huì)降低系統(tǒng)的性能,若能設(shè)計(jì)合適的控制器,保證系統(tǒng)穩(wěn)定性,延時(shí)可能反而改善系統(tǒng)性能,縮短智能體系統(tǒng)的追蹤時(shí)間,即相對(duì)于無(wú)延時(shí)的系統(tǒng),追蹤智能體在更短的時(shí)間內(nèi)成功追蹤到了目標(biāo)智能體。(4)將滑模控制器引入多智能體系統(tǒng),縮短在時(shí)變拓?fù)浣Y(jié)構(gòu)下的追蹤時(shí)間。追蹤時(shí)間的長(zhǎng)短是多智能體系統(tǒng)追蹤問題中很關(guān)鍵的性能指標(biāo),縮短追蹤時(shí)間是設(shè)計(jì)控制器時(shí)需要考慮的重要問題�；？刂萍夹g(shù)應(yīng)用于非線性系統(tǒng)的控制器設(shè)計(jì),在許多應(yīng)用中取得了良好的控制效果。故將其應(yīng)用于時(shí)變拓?fù)浣Y(jié)構(gòu)的多智能體系統(tǒng)控制中,設(shè)計(jì)出相關(guān)的時(shí)變滑模控制器,仿真驗(yàn)證了多智能體滑�？刂破鞯目刂菩Ч�,對(duì)比常規(guī)控制器,滑模控制器的應(yīng)用縮短了追蹤時(shí)間,提高了追蹤效果。(5)基于Voronoi圖分割區(qū)域多智能體系統(tǒng)目標(biāo)接力追蹤問題。研究了多目標(biāo)情況下多智能體的追蹤問題,假設(shè)在某一特定區(qū)域內(nèi)設(shè)置許多智能體節(jié)點(diǎn),保證該區(qū)域中每一塊區(qū)域都能同時(shí)被至少3個(gè)智能體監(jiān)控,以能夠?qū)崿F(xiàn)目標(biāo)定位。然后根據(jù)Voronoi圖的理論將被監(jiān)控區(qū)域分為眾多Voronoi單元,當(dāng)目標(biāo)進(jìn)入不同、Voronoi單元時(shí)追蹤智能體進(jìn)行切換,即實(shí)現(xiàn)對(duì)目標(biāo)智能體的接力追蹤。智能體的變換不僅帶來(lái)了拓?fù)浣Y(jié)構(gòu)的切換而且引起了追蹤誤差的跳變,致使穩(wěn)定性的分析更加復(fù)雜。另外,還研究了基于Voronoi圖分割區(qū)域的具有不穩(wěn)定子系統(tǒng)的接力追蹤問題。研究事件觸發(fā)的切換拓?fù)浣Y(jié)構(gòu)多智能體系統(tǒng)出現(xiàn)不穩(wěn)定子系統(tǒng)的情況。多智能體系統(tǒng)在追蹤過程中,通信拓?fù)浣Y(jié)構(gòu)發(fā)生變化,拓?fù)浣Y(jié)構(gòu)不能夠保證每一時(shí)間段的追蹤子系統(tǒng)都是穩(wěn)定的,如何設(shè)計(jì)控制器以及當(dāng)切換頻率和不穩(wěn)定子系統(tǒng)持續(xù)時(shí)間滿足什么條件時(shí)能夠保證整體追蹤系統(tǒng)的穩(wěn)定性是具有挑戰(zhàn)性的問題。最后,歸納總結(jié)本文的主要結(jié)果,并對(duì)今后的工作進(jìn)行展望。
[Abstract]:Multi-agent systems can provide a good modeling and control method for large-scale, real complex systems with complex relationships between individuals, and have a wide range of industrial and practical potential. Therefore, in recent years, multi-agent coordinated control as a frontier subject in the field of complex systems and control science has been concerned. Nonlinear multi-agent systems under structures are extremely complex and difficult to study. So far, there are not many researches on the consistency of multi-agent systems which consider both nonlinear and continuous time-varying topologies. In addition, the relative distance between the agents will change in real time because of the different velocities in the process of the agents'movement. Because of the limited wireless communication distance and the instability of the wireless communication itself, the communication topology between the agents will change in real time, so the nonlinear multi-agent is studied. It is very important to study the tracking problem of multi-agent systems under time-varying topology. Specifically, the main contents of this paper are as follows: (1) To study the multi-agent tracking problem under first-order, second-order and high-order nonlinear continuous time-varying topology. The dynamic models of moving targets and tracking agents are first-order and second-order, respectively. Consistency tracking of multi-agent systems under continuous time-varying topology is studied in the case of order and higher-order nonlinear models. By using graph theory and matrix analysis, the Laplacian matrix of system communication topology is analyzed to obtain the successful tracking conditions for its eigenvalues. The topology of a multi-agent system changes continually rather than switching between several fixed topologies. (2) The continuous time-varying topology is described by using the polytopic model. The Laplacian matrix of the time-varying topology is represented by the polytopic model, and the time-varying topology is modeled as a finite number of veracities. The Laplacian matrix and the corresponding scheduling function are combined. The introduction of this model makes the existence of the tracking strategy of multi-agent systems under time-varying topology be transformed into the solvability of linear matrix inequalities. (3) The tracking problem of high-order multi-agent systems with delay is studied. In addition to position, velocity and acceleration, there is also a degree of urgency in the system. In the actual system, the transmission of information between multiple agents through wireless communication takes a certain amount of time, even transmission failure, which leads to the emergence of delay. Therefore, the study of multi-agent system with delay is of great practical significance. Nowadays, the existence of delay does not necessarily degrade the performance of the system. If a suitable controller can be designed to ensure the stability of the system, the delay may improve the system performance and shorten the tracking time of the agent system, that is, compared with the system without delay, the tracking agent can successfully track the target agent in a shorter time. (4) Sliding mode control The tracking time is a key performance index in the tracking problem of multi-agent system. It is an important problem to shorten the tracking time when designing the controller. Sliding mode control technology is applied to the controller design of nonlinear systems, and many applications are needed. Good results have been achieved in the application. Therefore, it is applied to the multi-agent system control with time-varying topology, and the time-varying sliding mode controller is designed. The control effect of the multi-agent sliding mode controller is verified by simulation. Compared with the conventional controller, the application of the sliding mode controller shortens the tracking time and improves the tracking effect. Target relay tracking problem of multi-agent system with Voronoi map partitioned region is studied. The multi-agent tracking problem in multi-target situation is studied. It is assumed that many agent nodes are set up in a specific region to ensure that each region in the region can be monitored by at least three agents at the same time, so as to achieve target location. The theory of noi diagram divides the monitoring area into many Voronoi units. When the target enters different Voronoi units, the tracking agent switches, that is, realizing the relay tracking of the target agent. In addition, the problem of relay tracking with unstable subsystems based on Voronoi graph is studied. The unstable subsystems of multi-agent system with event-triggered switching topology are studied. Tracking subsystems are stable. It is a challenging problem to design controllers and to ensure the stability of the whole tracking system when the switching frequency and the duration of the unstable subsystems are satisfied.
【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】：2016
【分類號(hào)】：TP18;TP13

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