發(fā)布時(shí)間：2018-06-03 22:00

  本文選題：異構(gòu)多智能體系統(tǒng) + 一致性　； 參考：《華北電力大學(xué)(北京)》2017年碩士論文

【摘要】：目前,多智能體系統(tǒng)在傳感器結(jié)構(gòu)配置,網(wǎng)絡(luò)擁塞控制,編隊(duì)控制、航空航天探索等眾多領(lǐng)域得到廣泛應(yīng)用,作為其重點(diǎn)研究內(nèi)容的分布式協(xié)調(diào)控制也成為眾多學(xué)者的關(guān)注焦點(diǎn)。其中一個(gè)重要的問題就是一致性問題。在沒有全局控制與整體通信的情況下,系統(tǒng)達(dá)成一致的關(guān)鍵在于設(shè)計(jì)局部智能體之間的相互作用方式,使得智能體個(gè)體通過獲知的鄰居智能體的信息反復(fù)調(diào)整自身的行為,令所有智能體最終或在有限時(shí)間內(nèi)實(shí)現(xiàn)一致性。在實(shí)際情況里,各種限制條件的存在或者實(shí)際任務(wù)要求,系統(tǒng)中個(gè)體的動(dòng)態(tài)可能不盡相同。因此,異構(gòu)多智能體系統(tǒng)的研究重若丘山,而目前在該系統(tǒng)一致性方面的研究成果相對較少。所以,本文致力于對異構(gòu)多智能體系統(tǒng)及伴隨其他復(fù)合問題時(shí)一致性的探求。本文基于相關(guān)學(xué)者研究成果,運(yùn)用穩(wěn)定性理論、控制理論、數(shù)學(xué)機(jī)理等相關(guān)知識,對異構(gòu)系統(tǒng)達(dá)成一致性所需結(jié)構(gòu)及算法參數(shù)進(jìn)行探討。首先,基于離散時(shí)間模型,本文展開對異構(gòu)系統(tǒng)達(dá)成一致需滿足的條件的探討,著重分析系統(tǒng)最終的平衡狀態(tài)。對于異構(gòu)系統(tǒng)在無時(shí)延和伴隨有界傳輸時(shí)延時(shí)的情況,分別基于有向固定拓?fù)浜颓袚Q拓?fù)溥M(jìn)行了分析。通過狀態(tài)變換,分析整合成的系統(tǒng)矩陣,將異構(gòu)多智能體系統(tǒng)最終的一致平衡點(diǎn)量化。將最終的平衡狀態(tài)更直觀的用系統(tǒng)的拉普拉斯矩陣的特征向量和初始狀態(tài)表示,得到的結(jié)果簡潔明了。進(jìn)一步,將相關(guān)分析方法應(yīng)用于系統(tǒng)含有有界傳輸時(shí)延的情況,同樣獲得了系統(tǒng)實(shí)現(xiàn)一致性的充分條件。其次,當(dāng)系統(tǒng)為離散時(shí)間模型,對含有時(shí)延的異構(gòu)系統(tǒng)一致性進(jìn)行了的頻域分析。對系統(tǒng)在無時(shí)延,伴隨輸入時(shí)延,既有輸入時(shí)延又含有傳輸時(shí)延的三種情況分別進(jìn)行了分析。為實(shí)現(xiàn)研究系統(tǒng)的一致性,針對一階、二階動(dòng)態(tài)個(gè)體設(shè)計(jì)相應(yīng)的一致性協(xié)議。在研究的過程中,將系統(tǒng)在時(shí)域下的模型轉(zhuǎn)換到頻域模型下,主要運(yùn)用代數(shù)圖論、穩(wěn)定性理論和頻域分析方法針對有無時(shí)延和不同拓?fù)涞惹闆r進(jìn)行了一致性分析。最后,將關(guān)注的焦點(diǎn)聚焦在異構(gòu)系統(tǒng)的分組一致性相關(guān)問題上。有針對性的對一階動(dòng)態(tài)和二階動(dòng)態(tài)智能體量身打造分組一致性控制策略。利用降階變換的方法,使得異構(gòu)系統(tǒng)的分組一致性問題等價(jià)于同構(gòu)系統(tǒng)的穩(wěn)定性問題。當(dāng)系統(tǒng)無時(shí)延或含有有界傳輸時(shí)延時(shí),利用代數(shù)圖論和穩(wěn)定性理論,給出了系統(tǒng)在固定拓?fù)湎聦?shí)現(xiàn)有界一致性的拓?fù)錀l件和參數(shù)要求。當(dāng)系統(tǒng)含有一致有界輸入時(shí)延時(shí),構(gòu)造合適的李雅普諾夫函數(shù),系統(tǒng)實(shí)現(xiàn)一致性的充分條件根據(jù)求解的線性矩陣不等式來獲取。
[Abstract]:At present, multi-agent system is widely used in many fields, such as sensor configuration, network congestion control, formation control, aerospace exploration and so on. Distributed coordination control, which is the focus of its research, has also become the focus of attention of many scholars. One of the important issues is consistency. In the absence of global control and overall communication, the key to reach agreement is to design the interaction between local agents so that the agent repeatedly adjusts its behavior through the information of the neighbor agent. Make all agents eventually or in a limited time to achieve consistency. In the actual situation, the individual dynamics in the system may be different due to the existence of various constraints or the actual task requirements. Therefore, the research of heterogeneous multi-agent system is heavy, but the research results of the system consistency are relatively few. Therefore, this paper is devoted to the research of the consistency of heterogeneous multi-agent systems and other composite problems. Based on the research results of relevant scholars, this paper discusses the structure and algorithm parameters needed to achieve consistency in heterogeneous systems by using stability theory, control theory, mathematical mechanism and other relevant knowledge. Firstly, based on the discrete time model, this paper discusses the conditions that need to be met in order to reach an agreement on heterogeneous systems, focusing on the analysis of the final equilibrium state of the system. In the case of heterogeneous systems with no delay and with bounded transmission delay is analyzed based on directed fixed topology and handoff topology respectively. Through the state transformation, the integrated system matrix is analyzed, and the final uniform equilibrium point of the heterogeneous multi-agent system is quantified. The final equilibrium state is more intuitively represented by the eigenvector and the initial state of the Laplace matrix of the system, and the result is simple and clear. Furthermore, the correlation analysis method is applied to the case of the system with bounded transmission delay, and the sufficient condition for the consistency of the system is also obtained. Secondly, when the system is a discrete time model, the consistency of heterogeneous systems with time delay is analyzed in frequency domain. In this paper, three cases of system with no delay, with input delay, both input delay and transmission delay, are analyzed. In order to realize the consistency of the research system, the corresponding consistency protocols are designed for the first and second order dynamic individuals. In the process of research, the system model in time domain is converted to frequency domain model, and the consistency analysis is mainly carried out by using algebraic graph theory, stability theory and frequency domain analysis method for the existence of delay and different topologies. Finally, the focus of attention will be focused on the heterogeneous system of packet consistency related issues. A group consistency control strategy is designed for first and second order dynamic agents. By using the method of reduced order transformation, the group consistency problem of heterogeneous systems is equivalent to the stability problem of isomorphic systems. When the system has no delay or contains bounded transmission, the topological conditions and parameter requirements for the system to realize bounded consistency under fixed topology are given by using algebraic graph theory and stability theory. When the system contains uniformly bounded input, the sufficient conditions for the system to achieve consistency are obtained according to the linear matrix inequalities (LMIs), and a suitable Lyapunov function is constructed.
【學(xué)位授予單位】：華北電力大學(xué)(北京)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP18

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本文編號：1974351