异质多智能体系统的群一致性及应用

发布时间：2018-03-19 05:04

  本文选题：异质　切入点：连续　出处：《北方工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：近年来,多智能体系统的一致性问题在物理学、应用数学、计算机科学和控制理论等许多领域成为一项热门课题。然而在实际运用中,由于信息传递时受到不同的影响或限制,每个多智能体的动力学可能是不同的,且分群一致现象非常普遍,因此,研究异质系统的群一致性具有非常重要的现实意义。本文主要通过引入两个分群系数将异质多智能体进行分群,研究系统群一致性。主要有以下研究内容和创新点:1.结合分群系数,我们设计了一个异质连续多智能体系统的控制输入。在固定无向拓扑下,通过合理构造Lyapunov函数,证明了系统能够达到群一致性;在固定有向拓扑下,反馈系数在一定的范围内时,将系统由方程形式转化为矩阵形式,通过对矩阵的分析,得到系统能够达到群一致性的充要条件为拓扑图包含一个有向生成树,并且求得群一致收敛点;在切换有向拓扑下,对系统在矩阵形式下的矩阵进行分析,得到在反馈系数及周期满足一定的条件时,若存在连续有界且非重叠的无限时间间隔序列,并在每一个时间间隔序列内切换拓扑图集的联合图包含有向生成树时,系统达到群一致性。2.研究异质离散系统的群一致性。在固定无向拓扑下,通过合理构造一个Lyapunov函数,得到当存在一个正定矩阵满足一定条件时,系统能够达到群一致性;在固定有向拓扑下,分析从系统模型中转化得到的随机矩阵,证明了反馈系数在一定范围内时,当拓扑图包含一个有向生成树,系统达到群一致性;另外,在切换有向拓扑下,对随机矩阵进行分析,得到在反馈系数及周期在一定范围内时,若存在连续有界且非重叠的无限时间间隔序列,并在每一个时间间隔序列内切换拓扑图集的联合图包含有向生成树时,系统达到群一致性。3.研究了具有周期间歇控制的异质连续系统在固定无向拓扑下的群一致性,在连续系统控制输入的基础上,给部分多智能体施加一项间歇控制,通过合理构造一个Lyapunov函数,得到当s ≥0时,系统能够达到群一致性。
[Abstract]:In recent years, the consistency of multi-agent systems has become a hot topic in many fields, such as physics, applied mathematics, computer science and control theory. The dynamics of each multi-agent may be different and cluster consistency is common, so, It is of great practical significance to study the group consistency of heterogeneous systems. In this paper, we introduce two clustering coefficients to cluster heterogeneous multi-agents. The main contents and innovations of this paper are as follows: 1. Combining with cluster coefficients, we design the control input of a heterogeneous continuous multi-agent system. Under fixed undirected topology, we construct Lyapunov function reasonably. It is proved that the system can achieve group consistency, and when the feedback coefficient is within a certain range, the system can be transformed from the equation form to the matrix form. The necessary and sufficient condition that the system can achieve group consistency is that the topological graph contains a directed spanning tree and obtains the group uniform convergence point, and the matrix of the system in matrix form is analyzed under switched directed topology. When the feedback coefficient and the period satisfy certain conditions, if there is a continuous bounded and non-overlapping infinite interval sequence, and the joint graph of the topological graph set in each time interval series is switched to contain the directed spanning tree, we obtain the following results: (1) when the feedback coefficient and the period satisfy certain conditions, if there is a continuous bounded and nonoverlapping infinite interval sequence, The system achieves group consistency. 2. The group consistency of heterogeneous discrete systems is studied. Under fixed undirected topology, by reasonably constructing a Lyapunov function, it is shown that when there is a positive definite matrix satisfying certain conditions, the system can achieve group consistency. Under the fixed directed topology, the random matrix transformed from the system model is analyzed, and it is proved that when the feedback coefficient is within a certain range, the system achieves group consistency when the topological graph contains a directed spanning tree. The random matrix is analyzed. When the feedback coefficient and period are in a certain range, if there is a continuous bounded and nonoverlapping infinite interval sequence, When the joint graph of switching topological graph set contains directed spanning tree in each interval sequence, the system achieves group consistency. 3. The group consistency of heterogeneous continuous system with periodic intermittent control under fixed undirected topology is studied. On the basis of continuous system control input, a batch control is applied to some multi-agents. By constructing a reasonable Lyapunov function, it is obtained that when s 鈮，

本文编号：1632920