一类基于事件触发的多智能体系统一致性问题的研究

发布时间：2018-06-17 20:19

本文选题：多智能体系统 + 一致性　；参考：《哈尔滨工业大学》2017年硕士论文

【摘要】：多智能体系统的协同控制问题是一个跨学科研究问题,具有广泛的应用背景,比如编队控制、无人机飞行器、传感器网络等等.因而,受到了众多领域学者的广泛关注和研究.一致性问题是多智能体系统理论研究的基本问题,主要是是研究如何设计合适的控制协议,使系统中的智能体在该控制协议下,达到状态一致.本文采用基于周期检测的事件触发控制协议.在该控制协议下,智能体的状态值周期检测,当在检测时刻不满足触发条件时,才会执行相关动作.本文提出了一种新的事件触发条件,利用代数图论和Lyapunov稳定性判据等数学工具,给出了系统达到状态一致的条件;并使用MATLAB对系统进行数值模拟验证了该协议的有效性.进一步,通过数值模拟与其它事件触发条件下的控制协议相比较.其结果表明,在本文设计的触发条件下,能够显著减少系统控制输入更新的次数.在实际的系统中,智能体之间的时滞是难免的.因此,本文同时研究了存在时滞的情况,采用新的事件触发条件,利用代数图论和Routh判据等数学工具推导出系统达到状态一致,时滞需要满足的条件.并使用MATLAB对系统进行数值模拟,验证了该条件的正确性和协议的有效性.
[Abstract]:The cooperative control problem of multi-agent system is a cross disciplinary research problem, which has extensive application background, such as formation control, UAV aircraft, sensor network and so on. Therefore, it has been widely concerned and studied by many scholars in many fields. The consistency problem is the basic problem in the research of multi-agent system theory, which is mainly studied. How to design a suitable control protocol to make the intelligent agent in the system consistent under the control protocol. This paper adopts the event trigger control protocol based on periodic detection. Under the control protocol, the state value cycle detection of the agent will perform the related action when the trigger condition is not satisfied at the time of detection. A new event triggering condition is given. Using mathematical tools such as algebraic graph theory and Lyapunov stability criterion, the conditions for the system to achieve consistent state are given. The validity of the protocol is verified by numerical simulation of the system using MATLAB. Further, the result table is compared with the control protocol under other event triggering conditions. In the actual system, the time lag between the agents is unavoidable. Therefore, this paper also studies the existence of time delay, uses new event triggering conditions, and derives the system from mathematical tools such as algebraic graph theory and Routh criterion. The condition is consistent and the time delay needs to be satisfied. Numerical simulations of the system using MATLAB verify the correctness of the condition and the effectiveness of the protocol.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP18;O231

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