通信约束下合作竞争多智能体网络的一致性研究

发布时间：2018-04-04 08:11

本文选题：一致性　切入点：合作竞争多智能体网络　出处：《东南大学》2017年硕士论文

【摘要】：近年来,由于通信技术的迅猛发展,多智能体系统分布式控制的研究受到了越来越多的关注.分布式控制研究中很多有趣的话题已经吸引了来自各行各业的注意,这些议题包括一致性、信息控制和同步等等.其中,一致性的研究已有好几十年的历史,现在依然是多智能体网络的一个焦点问题。本文研究了带通信时滞的合作竞争多智能体网络的一致性问题.主要工作如下:第一章对于多智能体网络的一致性和分布式控制的研究发展进行概述,并在此基础上分析其研究现状及前景,导出本文的主要工作.第二章探讨了带通信时滞的合作竞争多智能体网络的一致性问题.对于一个给定的无向拓扑网络,针对线性耦合和非线性耦合两种情况分别给出了多智能体状态变化的动态模型.应用稳定性理论和一些相关图论的知识,发现当合作竞争多智能体网络连通时其所有智能体状态在不考虑正负的情况下能够实现一致,也就是说智能体的最终状态之间只存在正负号的差异,而大小是相同的.这种二部一致状态的解对于线性耦合的情形此处给出了精确的求解表达式,对于非线性耦合的情形则给出了隐式表达式.最后,通过几个数值仿真,验证了结论的有效性.第三章研究了有向合作竞争多智能体网络的一致性问题,这里同样考虑了多智能体间传递信息时的通信延迟影响.相比于第二章中考虑的情况,此处多智能体间的信息流动是有方向的,也就是说所考察的网络对象从无向拓扑网络拓展到了有向拓扑网络.利用李雅普洛夫定理和Barbalat引理,发现若有向合作竞争多智能体网络是强连通的,那么它能够实现二部一致.对于结构平衡的网络,本文进一步研究了所考虑系统的牵引二部一致性问题.我们发现通过牵引控制有向符号网络中的任意一个结点,该网络都能够实现牵引二部一致性.最后,给出两个数值仿真的例子来阐述主要结论的有效性.第四章对主要内容进行了总结,并对未来将要研究的方向做了简单介绍.
[Abstract]:In recent years, with the rapid development of communication technology, more and more attention has been paid to the research of distributed control in multi-agent system.Many interesting topics in distributed control research have attracted attention from a variety of industries, such as consistency, information control and synchronization.Among them, the research of consistency has been for decades, and it is still a focus of multi-agent network.In this paper, we study the consistency of cooperative and competitive multi-agent networks with communication delay.The main work is as follows: in the first chapter, the research and development of consistency and distributed control in multi-agent networks are summarized, and based on this, the present research situation and prospects are analyzed, and the main work of this paper is derived.In chapter 2, we discuss the consistency of cooperative and competitive multi-agent networks with communication delay.For a given undirected topological network, the dynamic models of multi-agent state change are given for linear coupling and nonlinear coupling respectively.By using stability theory and some related graph theory, it is found that all agent states can be consistent without considering the positive or negative when the cooperative competing multi-agent network is connected.In other words, there are only positive and negative sign differences between the final states of the agent, and the size is the same.For the linear coupling case, the exact solution expression is given for this bipartite uniform state solution, and the implicit expression is given for the nonlinear coupling case.Finally, the validity of the conclusion is verified by several numerical simulations.In chapter 3, the consistency problem of multi-agent networks with cooperative competition is studied. The effect of communication delay on the transmission of information between multi-agents is also considered.Compared with the situation considered in Chapter 2, the flow of information between multi-agents is oriented, that is to say, the network object is extended from undirected topology to directed topology.By using the Lyapunov theorem and Barbalat Lemma, it is found that if the multi-agent network is strongly connected to the cooperative competition, then it can achieve bipartial consistency.For the network with structural balance, the traction bipartite consistency of the system under consideration is further studied in this paper.We find that any node in the directed symbolic network can achieve traction bipartite consistency by traction control.Finally, two numerical simulation examples are given to illustrate the validity of the main conclusions.Chapter four summarizes the main contents and introduces the future research direction.
【学位授予单位】：东南大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP18;O157.5

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