异构多智能体系统一致性的研究

发布时间：2018-03-15 20:04

本文选题：异构多智能体系统　切入点：一致性　出处：《南京理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：多智能体协调控制在科学工程领域中有着较高的应用潜力,为智能交通、多移动机器人系统、军事应用的战术编队等领域提供理论性指导,而一致性作为实现多智能体协调控制的关键因素,吸引了众多学者的关注。目前大部分研究涉及的都是同构系统,而对因制约因素而具有不同动态特性的异构多智能体系统的研究并不多,由此激发了作者对异构多智能体系统一致性的研究。本文主要研究内容如下:基于Lyapunov函数法,借助于双线性矩阵不等式,研究了由一阶和二阶智能体构成的异构多智能体系统在完全间歇通信情况下的一致性问题。首先根据周期性间歇的邻居信息为系统设计分布式一致性协议,分析得出其实现一致性需要满足的条件;然后将结论推广至领导跟随的一致性问题,考虑二阶跟随者速度不可测的情况,为系统设计了速度观测器。研究了具有间歇通信和通信延时的异构多智能体系统的一致性问题,其中智能体间的通信延时是不同的。分别考虑完全周期性间歇通信和部分周期性间歇通信两种情况,基于间歇的邻居信息为系统设计不同的分布式一致性协议,采用Lyapunov函数法探究系统实现一致性应该满足的条件,确定通信延时与通信持续时间之间的关系。最后,针对噪声影响下带有动态领导者的异构多智能体系统的均方一致性问题进行了研究,考虑了有无时间延迟两种情况。为了削弱噪声影响,提出了具有时变增益的一致性协议,同时采用速度分解法简化状态方程使跟踪问题的分析变得更简单。随后基于图论和随机工具,分析得出了确保系统实现均方意义上的领导跟随一致性的条件。
[Abstract]:Multi-agent coordinated control has a high application potential in the field of scientific engineering, which provides theoretical guidance for intelligent transportation, multi-mobile robot systems, tactical formation of military applications, and so on. As a key factor to realize coordinated control of multi-agent, consistency has attracted the attention of many scholars. At present, most of the researches are related to isomorphism system. However, there are few researches on heterogeneous multi-agent systems with different dynamic characteristics due to constraints, which has inspired the author to study the consistency of heterogeneous multi-agent systems. The main contents of this paper are as follows: based on Lyapunov function method, By means of bilinear matrix inequalities, In this paper, the consistency problem of heterogeneous multi-agent systems composed of first-order and second-order agents is studied in the case of complete intermittent communication. Firstly, a distributed consistency protocol is designed for the system based on periodic intermittent neighbor information. Then the conclusion is extended to the consistency problem of leaders, and the unmeasurable speed of second-order follower is considered. The speed observer is designed for the system, and the consistency problem of heterogeneous multi-agent systems with intermittent communication and communication delay is studied. The communication delay between agents is different. Considering the two cases of complete periodic intermittent communication and partial periodic intermittent communication, different distributed consistency protocols are designed for the system based on intermittent neighbor information. The Lyapunov function method is used to explore the conditions that the system should satisfy in order to determine the relationship between the communication delay and the communication duration. Finally, the relationship between the communication delay and the communication duration is determined. In this paper, the mean square consistency problem of heterogeneous multi-agent systems with dynamic leaders under the influence of noise is studied, and whether there is time delay is considered. In order to weaken the noise effect, a consistency protocol with time-varying gain is proposed. At the same time, the velocity decomposition method is used to simplify the state equation to simplify the analysis of the tracking problem. Then, based on graph theory and random tools, the conditions to ensure the consistency of leadership following in the mean square sense of the system are obtained.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP18;TP13

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