基于高阶滑模方法的非线性多智能体系统的一致性研究
发布时间：2018-08-08 11:09
【摘要】：近年来,多智能体系统的协调控制问题已经引起了不同学科领域研究人员的广泛兴趣。多智能体协调控制是由多个单个智能体组成的多智能体系统,用来解决单个个体不能完成复杂任务的情况,它的主要目标是通过设计合适的分布式控制协议,使得每个个体通过与其邻居发生信息交互并实时更新自己的状态,完成特定的行为,比如编队控制,聚集,一致性等。一致性问题是多智能体协调控制的基础问题,在多智能体系统中,可能会存在一个或多个领航智能体的情况,在只有一个领航智能体的情况下,该问题就演变成了领航—跟随一致性问题;当存在多个领航智能体时,就变成了包含控制问题。由于多智能体协调控制的广泛发展,在许多领域都有很广泛的应用,在实际应用中,由于本质非线性、外部扰动等因素的存在,多智能体系统主要表现为非线性特性。因此,非线性多智能体系统的领航—跟随一致性问题和包含控制问题的研究更有意义和实用价值。论文工作主要基于图论、矩阵论、Lyapunov稳定性定理以及滑模变结构控制理论等知识,研究了具有外部扰动的二阶非线性多智能体系统的有限时间一致性问题和包含控制问题。首先,以带有外部干扰的二阶非线性多智能体为研究对象,考虑了固定拓扑结构和切换拓扑结构两种情况,结合二阶超螺旋滑模控制算法设计了分布式一致性协议,并利用滑模控制理论和Lyapunov有限时间稳定性定理,给出了领航—跟随多智能体系统在有限时间内使得跟随智能体与领航智能体达到一致的条件。分别对两种拓扑结构进行仿真实验,验证了所提出算法的准确性和有效性。然后,针对具有外部扰动的二阶非线性多智能体系统,研究了有限时间包含控制问题。利用二阶超螺旋滑模控制算法来设计分布式控制协议,使得该系统实现包含控制。论文工作主要针对静态领航和动态领航两种情况进行了研究。对于静态领航来说,只需要驱使跟随智能体在有限的时间内到达由静止的领航智能体围成的区域内,并在此区域内一直保持静止状态。不同于静态领航,动态领航相对来说更为复杂,论文工作主要考虑了领航智能体匀速变化的情况,跟随智能体根据给定的网络拓扑结构,在文中所提出控制算法的作用下,通过与其相邻智能体互相通信,并实时更新自己状态,使得跟随智能体可以到达由动态领航智能体所围成的动态凸包中,从而实现包含控制。最后通过系统仿真验证了所提二阶超螺旋滑模控制算法的正确性和有效性。
[Abstract]:In recent years, the coordinated control of multi-agent systems has attracted extensive interest of researchers in different disciplines. Multi-agent coordinated control is a multi-agent system composed of multiple single agents, which is used to solve the problem that a single individual cannot complete complex tasks. Its main goal is to design a suitable distributed control protocol. Each individual can exchange information with its neighbors and update their state in real time to accomplish certain behaviors, such as formation control, aggregation, consistency and so on. Consistency problem is the basic problem of multi-agent coordinated control. In multi-agent system, there may be one or more pilot agents, in which there is only one pilot agent. The problem becomes the piloting-follow consistency problem, and when there are more than one pilot agent, it becomes the inclusive control problem. Because of the extensive development of multi-agent coordinated control, it has been widely used in many fields. In practical applications, the multi-agent system is mainly nonlinear because of the existence of essential nonlinear and external disturbances. Therefore, the study of piloting-follower consistency problem and control problem in nonlinear multi-agent systems is more meaningful and practical. Based on graph theory, matrix theory Lyapunov stability theorem and sliding mode variable structure control theory, the finite time consistency problem and inclusion control problem of second order nonlinear multi-agent systems with external disturbances are studied in this paper. Firstly, taking the second order nonlinear multi-agent with external interference as the research object, considering the fixed topology and switching topology, the distributed consistency protocol is designed based on the second-order superspiral sliding mode control algorithm. By using the sliding mode control theory and the Lyapunov finite time stability theorem, the conditions for the piloting-follow multi-agent system to achieve consistency between the following agent and the pilot agent in the finite time are given. Simulation experiments on two topologies are carried out to verify the accuracy and effectiveness of the proposed algorithm. Then, the finite time inclusion control problem is studied for the second order nonlinear multi-agent systems with external disturbances. The distributed control protocol is designed by using the second order superspiral sliding mode control algorithm, which makes the system include control. This paper mainly focuses on static and dynamic pilotage. For the static pilotage, it is only necessary to drive the following agent to the area surrounded by the stationary pilot agent in a limited time, and to keep the static state in this area. Different from static pilotage, dynamic pilotage is more complex than static pilotage. This paper mainly considers the constant velocity change of pilotage agent, and follows the agent according to the given network topology, under the action of the proposed control algorithm in this paper. By communicating with its adjacent agents and updating its state in real time, the following agent can reach the dynamic convex hull surrounded by the dynamic pilot agent, and thus realize the inclusion control. Finally, the correctness and effectiveness of the proposed second order superspiral sliding mode control algorithm are verified by system simulation.
【学位授予单位】：重庆大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP18;TP13
本文编号：2171604
[Abstract]:In recent years, the coordinated control of multi-agent systems has attracted extensive interest of researchers in different disciplines. Multi-agent coordinated control is a multi-agent system composed of multiple single agents, which is used to solve the problem that a single individual cannot complete complex tasks. Its main goal is to design a suitable distributed control protocol. Each individual can exchange information with its neighbors and update their state in real time to accomplish certain behaviors, such as formation control, aggregation, consistency and so on. Consistency problem is the basic problem of multi-agent coordinated control. In multi-agent system, there may be one or more pilot agents, in which there is only one pilot agent. The problem becomes the piloting-follow consistency problem, and when there are more than one pilot agent, it becomes the inclusive control problem. Because of the extensive development of multi-agent coordinated control, it has been widely used in many fields. In practical applications, the multi-agent system is mainly nonlinear because of the existence of essential nonlinear and external disturbances. Therefore, the study of piloting-follower consistency problem and control problem in nonlinear multi-agent systems is more meaningful and practical. Based on graph theory, matrix theory Lyapunov stability theorem and sliding mode variable structure control theory, the finite time consistency problem and inclusion control problem of second order nonlinear multi-agent systems with external disturbances are studied in this paper. Firstly, taking the second order nonlinear multi-agent with external interference as the research object, considering the fixed topology and switching topology, the distributed consistency protocol is designed based on the second-order superspiral sliding mode control algorithm. By using the sliding mode control theory and the Lyapunov finite time stability theorem, the conditions for the piloting-follow multi-agent system to achieve consistency between the following agent and the pilot agent in the finite time are given. Simulation experiments on two topologies are carried out to verify the accuracy and effectiveness of the proposed algorithm. Then, the finite time inclusion control problem is studied for the second order nonlinear multi-agent systems with external disturbances. The distributed control protocol is designed by using the second order superspiral sliding mode control algorithm, which makes the system include control. This paper mainly focuses on static and dynamic pilotage. For the static pilotage, it is only necessary to drive the following agent to the area surrounded by the stationary pilot agent in a limited time, and to keep the static state in this area. Different from static pilotage, dynamic pilotage is more complex than static pilotage. This paper mainly considers the constant velocity change of pilotage agent, and follows the agent according to the given network topology, under the action of the proposed control algorithm in this paper. By communicating with its adjacent agents and updating its state in real time, the following agent can reach the dynamic convex hull surrounded by the dynamic pilot agent, and thus realize the inclusion control. Finally, the correctness and effectiveness of the proposed second order superspiral sliding mode control algorithm are verified by system simulation.
【学位授予单位】：重庆大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP18;TP13
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