多智能体系统的群集运动研究

发布时间：2018-12-10 06:11

【摘要】：群集运动是多智能体相互作用的一种普遍现象。它的共同特征是系统中所有智能体的速度能随时间达到一致,而且位移差控制在一定的范围内。本文在前人研究的基础上,分析了在时滞作用下的多智能体系统的群集运动。主要内容如下:本文分析了在不对称时滞作用下的多智能体系统的群集运动。先利用分段叠加方法和积分不等式技巧,得到只与初始条件和时滞大小有关的渐近速度。再利用Lyapunov方法推导出达到群集运动的充分条件。实际上,系统中除了存在不对称的通信时滞,还存在对称的通信时滞。针对这一现象,本文考虑了在对称时滞作用下的群集行为。首先将一般的系统转化成均值微分系统,推导出系统的总动量不变。再利用表示位移和速度差波动变化的微分不等式系统推导出达到群集运动的充分条件,并且得到所有智能体的速度都趋于平均速度。目前,在大多数群集行为分析的模型中,速度大小都是变化的。但还可能存在速度大小不变,只有速度方向变化的群集模型。因此,本文还研究了在速度大小不变的情况下的时滞系统的群集运动。首先将一般的时滞系统转化成速度约束下的时滞系统。再利用微分不等式系统,证明得到时滞在一定范围内对群集行为没有定性影响。同时,推导出一个只与系统的初始状态、系统参数有关的群集运动的充分条件。最后,利用一个不增的函数推导出该系统是防碰撞的。为了检验理论结果的正确性,本文还在各章给出了数值模拟的例子。
[Abstract]:Cluster motion is a common phenomenon of multi-agent interaction. Its common feature is that the velocity of all agents in the system is consistent with time, and the displacement difference is controlled in a certain range. In this paper, based on previous studies, the cluster motion of multi-agent systems with time delay is analyzed. The main contents are as follows: in this paper, the cluster motion of multi-agent systems with asymmetric time-delay is analyzed. By using the piecewise superposition method and the integral inequality technique, the asymptotic speed is obtained, which is only related to the initial conditions and the time delay. Then the sufficient conditions to achieve the swarm motion are derived by using the Lyapunov method. In fact, there are not only asymmetric communication delays, but also symmetric communication delays in the system. In view of this phenomenon, the cluster behavior under symmetric delay is considered in this paper. Firstly, the general system is transformed into a mean differential system, and the total momentum of the system is derived. Then the sufficient conditions for the swarm motion are derived by using the differential inequality system, which represents the variation of displacement and velocity difference fluctuations, and the velocity of all agents tends to average velocity. Currently, speed varies in most cluster behavior analysis models. But there may also be a cluster model where the speed is constant and only the speed direction changes. Therefore, this paper also studies the cluster motion of time-delay systems under the condition of constant velocity. Firstly, a general time-delay system is transformed into a time-delay system with velocity constraints. Using the differential inequality system, it is proved that the delay has no qualitative effect on the cluster behavior in a certain range. At the same time, a sufficient condition of cluster motion related only to the initial state and system parameters of the system is derived. Finally, it is deduced that the system is anti-collision by a non-increasing function. In order to verify the correctness of the theoretical results, numerical simulation examples are given in each chapter.
【学位授予单位】：江南大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP18

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