多智能体系统的部分分量一致性

发布时间：2018-04-05 06:57

本文选题：多智能体系统　切入点：一致性　出处：《桂林电子科技大学》2017年硕士论文

【摘要】：由于计算机技术和人工智能的迅猛发展,多智能体系统在物理学、信息科学和多机器人编队控制等领域的应用更加广泛.一致性作为多智能体系统协调控制中最基本的问题之一,受到了多个领域中研究者的持续关注.一致性是指由多个智能体组成的一个系统在控制协议的作用下,其位置或速度等状态变量渐近趋同.本文主要运用图论、矩阵理论和Lyapunov稳定性理论等相关知识,通过设计合适的控制项,研究多智能体系统的部分分量一致性问题,并运用Matlab软件对理论结果的正确性进行验证.论文的主要内容如下:1.简述多智能体系统一致性问题产生的背景、一致性问题的研究意义以及一致性问题发展历史和研究现状.2.介绍多智能体系统一致性的相关基础知识和论文所要用到的重要引理.3.研究连续型领导-跟随多智能体系统的部分分量一致性问题.首先给出多智能体系统的部分分量一致性概念,然后探讨有向网络拓扑结构下的一阶非线性领导-跟随多智能体系统的部分分量一致性问题.通过设计合适的牵引控制器,建立相应的误差系统,将多智能体系统的部分分量一致性转化为误差系统的部分变元稳定性,并运用矩阵理论和稳定性理论,导出该多智能体系统实现部分分量一致性的充分条件.数值模拟验证了理论结果的正确性.4.研究离散型一阶线性领导-跟随多智能体系统的部分分量一致性问题.通过构建合适的控制项,并运用矩阵理论和稳定性理论,导出该离散型多智能体系统实现部分分量一致性的充分条件.最后,数值实验模拟验证了理论结果的正确性.5.总结全文,并且研究和讨论了以后的研究方向.
[Abstract]:With the rapid development of computer technology and artificial intelligence, multi-agent systems are widely used in physics, information science and multi-robot formation control.As one of the most basic problems in coordinated control of multi-agent systems, consistency has been paid more and more attention by researchers in many fields.Consistency refers to the asymptotic convergence of state variables such as position or velocity of a system composed of multiple agents under the control protocol.In this paper, we use graph theory, matrix theory and Lyapunov stability theory to study the component consistency of multi-agent system by designing appropriate control items, and use Matlab software to verify the correctness of the theoretical results.The main contents of the thesis are as follows: 1: 1.This paper briefly introduces the background of the consistency problem of multi-agent system, the significance of the research on the consistency problem, the development history and the present situation of the consistency problem.This paper introduces the basic knowledge of multi-agent system consistency and the important Lemma used in this paper.The problem of partial component consistency in a continuous leader-follower system is studied.The concept of partial component consistency of multi-agent systems is first given, and then the problem of partial component consistency of first-order nonlinear leader-follower systems in directed network topology is discussed.By designing the appropriate traction controller, the corresponding error system is established, and the consistency of some components of the multi-agent system is transformed into the partial variable stability of the error system, and the matrix theory and the stability theory are used.A sufficient condition for partial component consistency of the multi-agent system is derived.Numerical simulation verifies the correctness of the theoretical results. 4.The problem of partial component consistency of discrete linear leader-follower system is studied.By constructing appropriate control terms and using matrix theory and stability theory, sufficient conditions for partial component consistency of the discrete multi-agent system are derived.Finally, the correctness of the theoretical results is verified by numerical simulation.This paper summarizes the full text, and studies and discusses the future research direction.
【学位授予单位】：桂林电子科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP18

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