發(fā)布時間：2018-03-19 05:04

  本文選題：異質(zhì)　切入點：連續(xù)　出處：《北方工業(yè)大學》2017年碩士論文　論文類型：學位論文

【摘要】：近年來,多智能體系統(tǒng)的一致性問題在物理學、應用數(shù)學、計算機科學和控制理論等許多領域成為一項熱門課題。然而在實際運用中,由于信息傳遞時受到不同的影響或限制,每個多智能體的動力學可能是不同的,且分群一致現(xiàn)象非常普遍,因此,研究異質(zhì)系統(tǒng)的群一致性具有非常重要的現(xiàn)實意義。本文主要通過引入兩個分群系數(shù)將異質(zhì)多智能體進行分群,研究系統(tǒng)群一致性。主要有以下研究內(nèi)容和創(chuàng)新點:1.結(jié)合分群系數(shù),我們設計了一個異質(zhì)連續(xù)多智能體系統(tǒng)的控制輸入。在固定無向拓撲下,通過合理構造Lyapunov函數(shù),證明了系統(tǒng)能夠達到群一致性;在固定有向拓撲下,反饋系數(shù)在一定的范圍內(nèi)時,將系統(tǒng)由方程形式轉(zhuǎn)化為矩陣形式,通過對矩陣的分析,得到系統(tǒng)能夠達到群一致性的充要條件為拓撲圖包含一個有向生成樹,并且求得群一致收斂點;在切換有向拓撲下,對系統(tǒng)在矩陣形式下的矩陣進行分析,得到在反饋系數(shù)及周期滿足一定的條件時,若存在連續(xù)有界且非重疊的無限時間間隔序列,并在每一個時間間隔序列內(nèi)切換拓撲圖集的聯(lián)合圖包含有向生成樹時,系統(tǒng)達到群一致性。2.研究異質(zhì)離散系統(tǒng)的群一致性。在固定無向拓撲下,通過合理構造一個Lyapunov函數(shù),得到當存在一個正定矩陣滿足一定條件時,系統(tǒng)能夠達到群一致性;在固定有向拓撲下,分析從系統(tǒng)模型中轉(zhuǎn)化得到的隨機矩陣,證明了反饋系數(shù)在一定范圍內(nèi)時,當拓撲圖包含一個有向生成樹,系統(tǒng)達到群一致性;另外,在切換有向拓撲下,對隨機矩陣進行分析,得到在反饋系數(shù)及周期在一定范圍內(nèi)時,若存在連續(xù)有界且非重疊的無限時間間隔序列,并在每一個時間間隔序列內(nèi)切換拓撲圖集的聯(lián)合圖包含有向生成樹時,系統(tǒng)達到群一致性。3.研究了具有周期間歇控制的異質(zhì)連續(xù)系統(tǒng)在固定無向拓撲下的群一致性,在連續(xù)系統(tǒng)控制輸入的基礎上,給部分多智能體施加一項間歇控制,通過合理構造一個Lyapunov函數(shù),得到當s ≥0時,系統(tǒng)能夠達到群一致性。
[Abstract]:In recent years, the consistency of multi-agent systems has become a hot topic in many fields, such as physics, applied mathematics, computer science and control theory. The dynamics of each multi-agent may be different and cluster consistency is common, so, It is of great practical significance to study the group consistency of heterogeneous systems. In this paper, we introduce two clustering coefficients to cluster heterogeneous multi-agents. The main contents and innovations of this paper are as follows: 1. Combining with cluster coefficients, we design the control input of a heterogeneous continuous multi-agent system. Under fixed undirected topology, we construct Lyapunov function reasonably. It is proved that the system can achieve group consistency, and when the feedback coefficient is within a certain range, the system can be transformed from the equation form to the matrix form. The necessary and sufficient condition that the system can achieve group consistency is that the topological graph contains a directed spanning tree and obtains the group uniform convergence point, and the matrix of the system in matrix form is analyzed under switched directed topology. When the feedback coefficient and the period satisfy certain conditions, if there is a continuous bounded and non-overlapping infinite interval sequence, and the joint graph of the topological graph set in each time interval series is switched to contain the directed spanning tree, we obtain the following results: (1) when the feedback coefficient and the period satisfy certain conditions, if there is a continuous bounded and nonoverlapping infinite interval sequence, The system achieves group consistency. 2. The group consistency of heterogeneous discrete systems is studied. Under fixed undirected topology, by reasonably constructing a Lyapunov function, it is shown that when there is a positive definite matrix satisfying certain conditions, the system can achieve group consistency. Under the fixed directed topology, the random matrix transformed from the system model is analyzed, and it is proved that when the feedback coefficient is within a certain range, the system achieves group consistency when the topological graph contains a directed spanning tree. The random matrix is analyzed. When the feedback coefficient and period are in a certain range, if there is a continuous bounded and nonoverlapping infinite interval sequence, When the joint graph of switching topological graph set contains directed spanning tree in each interval sequence, the system achieves group consistency. 3. The group consistency of heterogeneous continuous system with periodic intermittent control under fixed undirected topology is studied. On the basis of continuous system control input, a batch control is applied to some multi-agents. By constructing a reasonable Lyapunov function, it is obtained that when s 鈮，

本文編號：1632920