本文選題：時(shí)間延時(shí) + 事件觸發(fā)控制�。� 參考：《西南大學(xué)》2016年碩士論文

【摘要】：近年來,多智能體系統(tǒng)已經(jīng)引起了來自于不同學(xué)科研究人員的廣泛關(guān)注。這主要是因?yàn)樗诤芏喾矫嬗兄鴱V泛的應(yīng)用前景,其研究成果被廣泛的應(yīng)用于機(jī)器人合作控制、車輛交通管理、電子商務(wù)、無人飛行器的協(xié)調(diào)控制、編隊(duì)控制、群集、網(wǎng)絡(luò)資源的分配控制。在多智能體系統(tǒng)中,一致性意味著系統(tǒng)中所有智能體的狀態(tài)通過智能體之間的信息交換與融合,最終達(dá)到趨同。而一致性協(xié)議是智能體間相互作用、信息傳遞的規(guī)則,在這個(gè)過程中,智能體之間的信息交換協(xié)議起到了決定性的作用。根據(jù)多智能體系統(tǒng)所處的客觀環(huán)境,人們往往設(shè)計(jì)出不同的信息交換協(xié)議,正是在這樣的應(yīng)用背景下,一致性問題成為最具有研究價(jià)值的問題之一。本文以多智能體系統(tǒng)為研究背景,重點(diǎn)分析了基于事件觸發(fā)控制的非線性多智能體領(lǐng)航跟隨一致性問題。文章的主要內(nèi)容和研究成果總結(jié)如下:(1)簡要介紹了多智能體系統(tǒng)的研究背景與研究意義以及本論文所做的工作。(2)研究了非線性多智能體系統(tǒng)存在輸入時(shí)延的領(lǐng)航-跟隨一致性問題。首先考慮網(wǎng)絡(luò)拓?fù)浣Y(jié)構(gòu)為固定不變的,設(shè)計(jì)了相應(yīng)的事件觸發(fā)控制協(xié)議。假設(shè)系統(tǒng)的通信拓?fù)浒豢糜邢蛏蓸?運(yùn)用代數(shù)圖論、矩陣?yán)碚摵蚅yapunov方法,給出了非線性多智能體達(dá)到領(lǐng)航跟隨一致的充分條件。接著,考慮了切換拓?fù)浣Y(jié)構(gòu)的網(wǎng)絡(luò)情形,其相應(yīng)的理論結(jié)果和固定拓?fù)浣Y(jié)構(gòu)類似。最后的仿真結(jié)果驗(yàn)證了理論的可行性和方法的有效性。(3)研究了基于事件觸發(fā)控制的非線性多智能體半全局領(lǐng)航-跟隨一致性問題。首先,為了克服傳統(tǒng)的均勻采樣控制的缺點(diǎn),進(jìn)一步減少控制器跟新的頻率,減少不必要的計(jì)算和通訊資源的浪費(fèi),將事件觸發(fā)控制協(xié)議引入到多智能體系統(tǒng)一致性問題研究中。本文提出了一種新的事件觸發(fā)控制策略,它可以避免連續(xù)的通信。根據(jù)設(shè)定的控制器,得到了領(lǐng)航-跟隨一致的充分條件。其次,為了進(jìn)一步減少控制的消耗,本論文采用牽制控制策略,即只有控制器應(yīng)用控制動作智能體的很少一部分。然而,大多數(shù)現(xiàn)有工作都基于不同智能體之間連續(xù)時(shí)間的通信,所設(shè)計(jì)的控制策略要求的實(shí)時(shí)更新,這就要求智能網(wǎng)絡(luò)體必須配備高性能處理器和高速通信信道。最后,通過Lyapunov穩(wěn)定性理論方法,本文找到時(shí)間延時(shí)非線性多智能體在事件觸發(fā)機(jī)制下,達(dá)到一致所需要的條件。
[Abstract]:In recent years, multi-agent systems have attracted wide attention from researchers from different disciplines. This is mainly because it has a wide application prospect in many aspects, and its research results are widely used in robot cooperative control, vehicle traffic management, electronic commerce, coordination control of unmanned aerial vehicles, formation control, cluster. Network resource allocation control. In a multi-agent system, consistency means that the state of all agents in the system is exchanged and fused by the agents, and eventually converges. Conformance protocol is the rule of interaction and information transfer between agents. In this process, the information exchange protocol between agents plays a decisive role. According to the objective environment of multi-agent system, people often design different information exchange protocols. In such an application background, the consistency problem has become one of the most valuable problems. In this paper, based on the multi-agent system, the problem of nonlinear multi-agent pilotage consistency based on event-triggered control is analyzed. The main contents and results of this paper are summarized as follows: (1) A brief introduction to the research background and significance of multi-agent system and the work done in this thesis. -following consistency. Considering that the network topology is fixed and invariant, the corresponding event trigger control protocol is designed. Assuming that the communication topology of the system consists of a directed spanning tree, the sufficient conditions for the nonlinear multi-agent to achieve the homogeneity of pilotage following are given by using algebraic graph theory, matrix theory and Lyapunov method. Then, the network with switched topology is considered, and the corresponding theoretical results are similar to those of fixed topology. Finally, the simulation results verify the feasibility of the theory and the effectiveness of the method. We study the semi-global piloting-follow consistency problem of nonlinear multi-agent based on event-triggered control. First of all, in order to overcome the shortcomings of traditional uniform sampling control, further reduce the controller and new frequency, reduce unnecessary computing and communication resources waste, The event trigger control protocol is introduced into the research of multi-agent system consistency. In this paper, a new event trigger control strategy is proposed, which can avoid continuous communication. According to the set controller, a sufficient condition of piloting-follow consistency is obtained. Secondly, in order to further reduce the consumption of control, this paper adopts the containment control strategy, that is, only a small part of the controller application control action agent. However, most of the existing work is based on continuous time communication between different agents, and the designed control strategy requires real-time updating, which requires the intelligent network body to be equipped with high performance processors and high speed communication channels. Finally, through the Lyapunov stability theory method, we find the condition that the time-delay nonlinear multi-agent can reach the consistent requirement under the event triggering mechanism.
【學(xué)位授予單位】：西南大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP18

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