本文選題：多智能體系統(tǒng)　切入點：一致性　出處：《桂林電子科技大學》2017年碩士論文

【摘要】：由于計算機技術和人工智能的迅猛發(fā)展,多智能體系統(tǒng)在物理學、信息科學和多機器人編隊控制等領域的應用更加廣泛.一致性作為多智能體系統(tǒng)協(xié)調控制中最基本的問題之一,受到了多個領域中研究者的持續(xù)關注.一致性是指由多個智能體組成的一個系統(tǒng)在控制協(xié)議的作用下,其位置或速度等狀態(tài)變量漸近趨同.本文主要運用圖論、矩陣理論和Lyapunov穩(wěn)定性理論等相關知識,通過設計合適的控制項,研究多智能體系統(tǒng)的部分分量一致性問題,并運用Matlab軟件對理論結果的正確性進行驗證.論文的主要內容如下:1.簡述多智能體系統(tǒng)一致性問題產生的背景、一致性問題的研究意義以及一致性問題發(fā)展歷史和研究現(xiàn)狀.2.介紹多智能體系統(tǒng)一致性的相關基礎知識和論文所要用到的重要引理.3.研究連續(xù)型領導-跟隨多智能體系統(tǒng)的部分分量一致性問題.首先給出多智能體系統(tǒng)的部分分量一致性概念,然后探討有向網絡拓撲結構下的一階非線性領導-跟隨多智能體系統(tǒng)的部分分量一致性問題.通過設計合適的牽引控制器,建立相應的誤差系統(tǒng),將多智能體系統(tǒng)的部分分量一致性轉化為誤差系統(tǒng)的部分變元穩(wěn)定性,并運用矩陣理論和穩(wěn)定性理論,導出該多智能體系統(tǒng)實現(xiàn)部分分量一致性的充分條件.數(shù)值模擬驗證了理論結果的正確性.4.研究離散型一階線性領導-跟隨多智能體系統(tǒng)的部分分量一致性問題.通過構建合適的控制項,并運用矩陣理論和穩(wěn)定性理論,導出該離散型多智能體系統(tǒng)實現(xiàn)部分分量一致性的充分條件.最后,數(shù)值實驗模擬驗證了理論結果的正確性.5.總結全文,并且研究和討論了以后的研究方向.
[Abstract]:With the rapid development of computer technology and artificial intelligence, multi-agent systems are widely used in physics, information science and multi-robot formation control.As one of the most basic problems in coordinated control of multi-agent systems, consistency has been paid more and more attention by researchers in many fields.Consistency refers to the asymptotic convergence of state variables such as position or velocity of a system composed of multiple agents under the control protocol.In this paper, we use graph theory, matrix theory and Lyapunov stability theory to study the component consistency of multi-agent system by designing appropriate control items, and use Matlab software to verify the correctness of the theoretical results.The main contents of the thesis are as follows: 1: 1.This paper briefly introduces the background of the consistency problem of multi-agent system, the significance of the research on the consistency problem, the development history and the present situation of the consistency problem.This paper introduces the basic knowledge of multi-agent system consistency and the important Lemma used in this paper.The problem of partial component consistency in a continuous leader-follower system is studied.The concept of partial component consistency of multi-agent systems is first given, and then the problem of partial component consistency of first-order nonlinear leader-follower systems in directed network topology is discussed.By designing the appropriate traction controller, the corresponding error system is established, and the consistency of some components of the multi-agent system is transformed into the partial variable stability of the error system, and the matrix theory and the stability theory are used.A sufficient condition for partial component consistency of the multi-agent system is derived.Numerical simulation verifies the correctness of the theoretical results. 4.The problem of partial component consistency of discrete linear leader-follower system is studied.By constructing appropriate control terms and using matrix theory and stability theory, sufficient conditions for partial component consistency of the discrete multi-agent system are derived.Finally, the correctness of the theoretical results is verified by numerical simulation.This paper summarizes the full text, and studies and discusses the future research direction.
【學位授予單位】：桂林電子科技大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP18

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