多智能体系统群一致性分析与设计

发布时间：2018-08-20 14:35

【摘要】：在过去十几年里,关于多智能体系统一致性协调控制问题的理论研究和实际应用已经受到了科学界更多的重视。解决多智能体系统一致性协调控制的关键是:依据系统分配任务和性能要求的不同,设计合适的协议或算法使得多智能体系统的关键量最终达到一致。由于多智能体系统可以通过局部的信息交流,来达到协调控制整个系统的目的,很多学者开始研究它的应用价值,包括研究无人机协同控制、传感器网络的目标跟踪和通讯网络的拥塞控制等。目前,关于多智能体系统的一致性已经有了大量的研究成果,但是关于多智能体系统群一致性的相关结论却相对较少。本文将非负矩阵理论、代数图论和Lyapunov稳定性理论作为研究工具,对群一致性问题和H_∞群一致性问题展开了研究。本文主要内容如下:1.图达到平衡条件是使得图中个体状态达到一致的前提条件,同样,图达到群平衡条件是使得图中相同群内个体状态达到一致的前提条件。本论文针对含有两个群的有向拓扑图和无向拓扑图,分别提出两种不同的群平衡化算法。首先,考虑含有两个子图的赋权有向图的群平衡化,通过改变某些边的边权值,使得相同群内个体在有限步内实现群平衡。然后,对于含有两个子图的赋权无向图群平衡化分为两种情况进行讨论:i)含有两个子图且子图间连通的赋权无向图的群平衡化;ii)含有两个子图且子图间有s(s＞1)个连通分支的赋权无向图的群平衡化。分别得到一个图可以在有限步后实现群平衡的算法。最终,通过实例仿真验证结论的正确性。2.考虑三种情况下的一阶连续多智能体系统H_∞群一致性问题:i)不具有通讯时滞的固定拓扑;ii)不具有通讯时滞的切换拓扑;iii)具有单时滞的固定拓扑。针对以上三种情形,将原系统转换为一个降阶系统,再利用Lyapunov稳定理论研究降阶系统的稳定性,从而得到多智能体系统达到H_∞群一致性的线性矩阵不等式形式的充分条件。通过数值仿真验证结论的正确性。
[Abstract]:In the past ten years, more and more attention has been paid to the theoretical research and practical application of multi-agent system coherence and coordination control. The key to the consistency coordination control of multi-agent system is to design a suitable protocol or algorithm according to the different system assignment tasks and performance requirements so that the key quantity of multi-agent system is consistent. Because the multi-agent system can achieve the purpose of coordinating and controlling the whole system through local information exchange, many scholars have begun to study its application value, including the research of cooperative control of UAV. Target tracking in sensor networks and congestion control in communication networks. At present, there have been a lot of research results on the consistency of multi-agent system, but there are relatively few conclusions about multi-agent system cluster consistency. In this paper, the nonnegative matrix theory, algebraic graph theory and Lyapunov stability theory are used as research tools to study group consistency problem and H _ 鈭，

本文编号：2193976