异质多智能体系统输出二分一致性问题研究

发布时间：2018-05-05 03:42

本文选题：异质 + 内模定理　；参考：《西南交通大学》2017年硕士论文

【摘要】：近年来,多智能体系统协调控制的研究受到了学者的广泛关注,成为控制领域的研究热点,同时已被广泛应用到交通、电网、工业、社会、军事等各大领域。本文利用图论、矩阵论、系统稳定性理论以及内模定理等技术,对异质多智能体系统输出二分一致性问题进行系统深入地研究。首先,针对连续时间异质多智能体系统网络,研究基于符号图的输出二分一致性。系统中智能体间的拓扑结构用符号图进行描述,即智能体间合作与对抗关系并存。而智能体的动态描述不再是一样的,而是互不相同,尤其个体动态模型的状态维数也不尽相同。该问题主要是利用符号图与非负图的特有性质,进一步分析常规一致性与二分一致性的关系。在已有研究成果的基础上,分别设计两种输出反馈控制算法,来实现系统的输出二分一致性,并通过系统仿真实例对上述两种控制算法进行验证。其次,针对离散时间异质多智能体系统网络,研究基于符号图的输出二分一致性。当系统中存在领导者时,即领导者-跟随者模型,领导者是特殊的智能体,其运动完全由自身动力学决定,与其它跟随智能体的运动无关,但会对部分跟随智能体有一定的影响作用。通过设计合适的控制算法,使得领导者-跟随者模型中的跟随者智能体达到输出二分一致性,其中部分跟随者智能体与领导者的运动动态相同,而其余智能体与领导者完全相反。进而对更一般的无领导者模型进行研究,提出控制算法,利用图论、矩阵论以及系统稳定性理论得到输出二分一致性。通过系统仿真实例对上述两种控制算法进行验证。最后,针对连续时间异质多智能体系统网络,研究基于有向切换符号图的输出二分一致性。基于固定有向图的输出二分一致性的研究可知,很难保证智能体间的拓扑结构不发生变化,因而研究基于有向切换符号图的输出二分一致性是非常有必要的。由于有向切换符号图的拓扑结构随时间发生变化,研究难度会更大。本文通过对有向切换符号图在时域范围内提出一定的限制条件,并设计合适的控制算法,使得系统达到输出二分一致性,并通过系统仿真实例对上述控制算法进行验证。
[Abstract]:In recent years, the research on coordinated control of multi-agent system has been paid more and more attention by scholars. It has become the research hotspot in the field of control, and has been widely used in many fields such as transportation, power grid, industry, society, military and so on. By means of graph theory, matrix theory, system stability theory and internal model theorem, the binary consistency problem of heterogeneous multi-agent systems is studied systematically and deeply in this paper. Firstly, the binary consistency of output based on symbol graph is studied for continuous-time heterogeneous multi-agent networks. The topological structure of agents in the system is described by symbolic graph, that is, the cooperation and confrontation between agents coexist. The dynamic description of the agent is not the same, but different, especially the state dimension of the individual dynamic model. The problem is to further analyze the relationship between conventional consistency and dichotomous consistency by using the unique properties of symbolic graphs and nonnegative graphs. On the basis of the existing research results, two kinds of output feedback control algorithms are designed to realize the binary consistency of the output of the system, and the two control algorithms are verified by system simulation examples. Secondly, the binary consistency of output based on symbol graph is studied for discrete time heterogeneous multi-agent system network. When there is a leader in the system, that is, the leader-follower model, the leader is a special agent whose motion is completely determined by its own dynamics and independent of the movement of other following agents. However, it will have a certain effect on some following agents. By designing the appropriate control algorithm, the follower agent in the leader-follower model can achieve the binary consistency of output, and some of the follower agents have the same motion dynamics as the leader. The rest of the agents are the exact opposite of the leader. Furthermore, the more general leaderless model is studied, and the control algorithm is proposed. The binary consistency of output is obtained by using graph theory, matrix theory and system stability theory. The two control algorithms are verified by system simulation. Finally, the output binary consistency based on directed switched symbol graph is studied for continuous-time heterogeneous multi-agent networks. The study of output dichotomy based on fixed directed graph shows that it is difficult to ensure that the topology of agents does not change, so it is necessary to study the output dichotomy based on directed switched symbol graph. Because the topological structure of the directed switched symbol graph changes with time, it will be more difficult to study. In this paper, a certain limitation condition is proposed for the directed switched symbol graph in the time domain, and a suitable control algorithm is designed to make the system achieve the binary consistency of output, and the control algorithm is verified by a system simulation example.
【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP18

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