自组织运动策略的数学机理研究

发布时间：2018-07-18 09:36

【摘要】：协调控制从近几十年到如今,多智能体的协调控制问题受到了来自不同领域学者的关注。蜂拥控制作为由群体行为抽象而衍生出的一门新兴学科和研究方向,它对自然界的群体行为进行了很好的理论解释和数学说明。蜂拥控制具有与群体行为相同的性质,分别是协调性和自组织性,它在多机器人系统和多无人机系统等领域具有很好的应用前景。一致性研究作为协调控制的基础理论研究,指每个智能体之间通过局部的信息耦合作用而达到整体的状态量一致。在现实生活中,由于每个智能体的个体差异性或者任务的原因,它们的系统结构会有所不同进而去完成不同的任务。因此在同一个多智能体系统(MAS,MultiAgent System)中,各个智能体所涉及到的动力学方程也会有所差异。本文中,异构MAS是指由多个不同动力学方程(阶数)的智能体组成的系统。在现实生活中,由于丢包等原因,使得MAS普遍具有时间上的延迟。因此,研究具有时延的异构MAS的一致性问题具有较大的现实意义和实用价值。本文基于自组织运动,以异构MAS为研究对象,研究带有时延的异构MAS自组织运动的一致性。首先,本文分别介绍了静态、动态、平均和分组一致性的定义;然后,将本论文分为连续异构MAS和离散异构MAS两大方面来进行一致性分析。在连续和离散异构MAS中,主要研究由一阶和二阶智能体组成的异构MAS和由一阶、二阶和高于二阶的智能体组成的高阶异构MAS的一致性。在由一阶和二阶智能体组成的异构MAS中,本文分别用频域法和非负矩阵法证明系统达到了静态一致;在高阶异构MAS中,本文首先提出带有时延的控制协议,然后用非负矩阵法证明系统到达了静态一致。最后,本文分别对其不同的系统进行建模仿真,通过仿真结果来判断本文所得结果的正确性。本文的主要贡献是研究了带有时延的异构MAS的一致性问题,特别是用非负矩阵法来研究高阶异构MAS的一致性问题,填补了这一块的学术空缺。在连续异构MAS和离散异构MAS的研究中,我们主要将文献[1]和文献[2]进行了创新并且改进了他们所得的结论,主要将系统从二阶MAS转变为由一阶和二阶的异构MAS,从而增加了系统分析的难度,并且将Laplacian矩阵重新定义,得出了更为复杂的系统矩阵。最后本文得到了满足系统达到一致性的充分条件,也就是满足系统达到一致性的最大时延。
[Abstract]:From recent decades to now, the coordinated control of multi-agent has been concerned by scholars from different fields. As a new subject and research direction derived from the abstraction of group behavior, swarm control provides a good theoretical and mathematical explanation for the group behavior in nature. Swarm control has the same properties as group behavior, which are coordination and self-organization, respectively. It has a good application prospect in the fields of multi-robot system and multi-UAV system. As the basic theory of coordinated control, consistency research means that the state of each agent is consistent by local information coupling. In real life, because of the individual difference of each agent or the reason of task, their system structure will be different to complete different tasks. Therefore, in the same multi-agent system, the dynamic equations involved in each agent will be different. In this paper, heterogeneous MAS is a system composed of agents with different dynamic equations (orders). In real life, due to packet loss and other reasons, MAS generally has time delay. Therefore, it is of great practical significance and practical value to study the consistency of heterogeneous MAS with delay. In this paper, based on self-organizing motion, the consistency of heterogeneous MAS self-organizing motion with time delay is studied. First, this paper introduces the definitions of static, dynamic, average and group consistency, and then, this paper is divided into continuous heterogeneous MAS and discrete heterogeneous MAS to analyze the consistency. In continuous and discrete heterogeneous MAS, the consistency of heterogeneous MAS composed of first and second order agents and high order heterogeneous MAS composed of first order, second order and higher order agents is studied. In heterogeneous MAS composed of first-order and second-order agents, the frequency domain method and non-negative matrix method are used to prove that the system achieves static consistency, and in high-order heterogeneous MAS, a control protocol with delay is first proposed. Then the nonnegative matrix method is used to prove that the system reaches static consistency. Finally, the different systems are modeled and simulated, and the correctness of the results is judged by the simulation results. The main contribution of this paper is to study the consistency problem of heterogeneous MAS with delay, especially the nonnegative matrix method is used to study the consistency problem of high order heterogeneous MAS, which fills the academic gap. In the study of continuous heterogeneous MAS and discrete heterogeneous MAS, we have innovated and improved their conclusions mainly in literature [1] and [2]. The system is mainly changed from second order MAS to first order and second order Isomeric, which increases the difficulty of system analysis, and redefines the Laplacian matrix to obtain a more complex system matrix. Finally, a sufficient condition is obtained to satisfy the consistency of the system, that is, to satisfy the maximum delay of the system to achieve consistency.
【学位授予单位】：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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