三阶多智能体系统一致性研究

发布时间：2018-05-09 13:25

本文选题：三阶多智能体系统 + 一致性　；参考：《济南大学》2016年硕士论文

【摘要】：近十几年来,越来越多的人对多智能体系统的探讨非常感兴趣,这是由于多智能体系统在真实世界中有着十分广泛的应用,比如无人机、多车辆\机器人系统、自治水下潜艇以及信息中的网络控制等等。在多智能体系统的相应理论探讨当中,一致性的探讨一直是现在社会上的一个关键核心问题。关于这一方面的研究,人们最开始探讨了简单的一阶系统,随着对一阶系统的深入考量,学者们逐渐开始对二阶系统进行探讨,直到现在还是只有很少的人去研究三阶以及高阶多智能体系统。因此,一阶与二阶系统关于多智能体系统一致性的理论探究结果相对于三阶以及高阶系统的理论成果而言要丰富的多,完善的多。鉴于生活中的实际应用以及为了使理论结果更加完善,所以,本文探讨了比较简单特殊的高阶系统的一致性,即,三阶多智能体系统的一致性。在本文当中,我们主要针对无时滞和时滞连续时间三阶多智能体系统以及无时滞离散时间三阶多智能体系统,研究了它们的一致性问题,主要内容和贡献如下:第一章,简单介绍了多智能体系统一致性的研究背景和研究近况,以及最后简要说明了本文的主要内容安排。第二章,为了使整篇文章简化和统一,简单介绍图的一些基本知识以及符号表示。第三章,我们主要探讨了无时滞连续时间的三阶多智能体系统的一致性问题。根据代数图理论知识、Hurwitz判据以及复常系数多项式稳定性判据,分析了系统矩阵的特征值,从而得到了系统分别在有向拓扑和无向图的假设下达到一致的充要条件。第四章,在第三章探讨结果的基础之上,本章我们主要探讨了时滞连续时间的三阶多智能体系统的一致性问题。根据Laplacian变换和频域分析法,得到了系统在有向网络和无向网络假设下达到一致的的充分或充要条件。第五章,为了使理论结果更加完善,本章我们主要探讨了离散时间的三阶多智能体系统的一致性问题。通过降阶的方法,把原系统降阶,从而把研究问题变成了解决变换后的降阶系统的稳定性问题。再根据代数图理论和矩阵理论以及复系数多项式稳定性判据,建立了系统在有向网络条件下达到一致的充要条件。第六章,对本文的工作进行总结与展望。简要归纳本文工作,总结创新点,并对本文今后的研究给出一些想法与展望。
[Abstract]:In the past decade, more and more people are interested in the discussion of the multi-agent system, which is due to the extensive application of the multi-agent system in the real world, such as the UAV, the multi vehicle robot system, the autonomous underwater submarine and the network control in the information. The discussion of consistency has always been a key core issue in the present society. On this aspect, people begin to discuss the simple first order system. With the in-depth consideration of the first order system, scholars have gradually begun to explore the two order system, until now only a few people are going to study the three order and the higher order. Therefore, the theoretical results of the unification of the first and two order systems on the unity of the multi-agent system are much richer and more perfect than the three and the higher order systems. In view of the practical application in life and in order to make the theoretical results better, this paper discusses a relatively simple and special article. The consistency of the higher order system, that is, the consistency of the three order multi-agent system. In this paper, we mainly focus on the consistency problem of the three order multi-agent systems with time delay and time delay and the time delay discrete time three order multi-agent systems. The main contents and contributions are as follows: the first chapter, a brief introduction of the intelligence is given. In the second chapter, in order to simplify and unify the whole article, we simply introduce some basic knowledge and symbolic representation of the graph. In the third chapter, we mainly discuss the consistency of the three order multi-agent system without time-delay and continuous time. According to the theoretical knowledge of algebraic graph, the Hurwitz criterion and the stability criterion of the polynomial of complex coefficients, the eigenvalues of the system matrix are analyzed, and the necessary and sufficient conditions for the system to reach the consistency under the assumption of the directed and undirected graphs are obtained. In the fourth chapter, on the basis of the results in the third chapter, we mainly discuss this chapter. The consistency problem of three order multi agent systems with time delay. According to the Laplacian transformation and frequency domain analysis, the sufficient or necessary conditions for the system to reach the same agreement under the assumption of the directed network and the undirected network are obtained. The fifth chapter, in order to make the theoretical results more perfect, we mainly discuss the three order multi intelligence of the discrete time. In order to reduce the order of the original system by the reduced order method, the research problem is transformed into the stability problem of the reduced order system after the transformation. Then, the necessary and sufficient conditions for the system to achieve consistency under the conditions of the directed network are established according to the algebraic graph theory and the matrix theory and the stability criterion of the complex coefficient polynomial. The six chapter summarizes the work of this paper, summarizes the work of this paper, summarizes the innovation points, and gives some ideas and prospects for future research in this paper.

【学位授予单位】：济南大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP18

【参考文献】