【摘要】：由多個簡單個體組成的群體稱為多智能體系統(tǒng),其協(xié)作控制主要是指個體通過交換局部信息而完成給定的群體任務,如多飛行器編隊、多電機協(xié)同、多機器人協(xié)作搬運等都屬于典型的協(xié)作控制問題。由于此類系統(tǒng)廣泛存在于自然界和現(xiàn)實生活中,因此吸引了控制領域、物理等眾多領域學者展開研究,并取得了豐碩成果。其中,包圍控制是該領域中的一個基本問題,其目的是通過設計合適的基于個體的控制協(xié)議,使得追隨者收斂到由多個領導者組成的凸包內。本文針對個體之間相鄰關系不斷切換條件下的包圍控制問題展開研究,主要內容如下:1.研究了信息交換拓撲隨機切換的一階多智能體系統(tǒng)包圍控制問題�？紤]由多個靜態(tài)領導者和追隨者組成的一階連續(xù)多智能體系統(tǒng),基于所設計的控制協(xié)議,證得當有向信息交換聯(lián)合圖全局可達時,系統(tǒng)可解包圍控制問題,仿真結果驗證了結果的有效性。2.研究了信息交換拓撲隨機切換的二階多智能體系統(tǒng)包圍控制問題�？紤]由多個動態(tài)領導者和追隨者組成的二階離散多智能體系統(tǒng),基于所設計的控制協(xié)議,通過構造一個均方誤差函數(shù),對系統(tǒng)進行等價變換,將二階包圍控制問題轉化為降階的系統(tǒng)穩(wěn)定性問題,并得到了誤差系統(tǒng)穩(wěn)定的充分條件。即在此條件下,系統(tǒng)可解包圍控制問題,仿真結果驗證了結果的有效性。3.在切換通信拓撲條件下,研究了一類多智能體系統(tǒng)的環(huán)繞控制問題。在二維平面上,考慮由一個靜態(tài)領導者和多個追隨者組成的多智能體系統(tǒng),控制目標是所有追隨者最終收斂到以領導者為圓心的圓周上,并均勻分布在該圓周上做環(huán)繞運動。為此,首先給出了一個追隨者估計靜態(tài)領導者位置的分布式控制協(xié)議,并得出了所有追隨者收斂到指定圓周上的充分條件。其次,設計了追隨者在圓周上運動的分布式控制協(xié)議,使系統(tǒng)在滿足前述充分條件時,所有追隨者均勻分布在圓周上并做環(huán)繞運動。仿真結果驗證了所提方法的有效性。
[Abstract]:A group composed of many simple individuals is called a multi-agent system. Its cooperative control mainly refers to the individual accomplishing a given group task by exchanging local information, such as multi-aircraft formation and multi-motor cooperation. Multi-robot cooperative handling is a typical cooperative control problem. Because this kind of system exists widely in nature and real life, it attracts a lot of researchers in the field of control, physics and so on, and has made a lot of achievements. Encircling control is a basic problem in this field. Its purpose is to make followers converge to convex hull composed of multiple leaders by designing appropriate individual-based control protocols. In this paper, we study the bounding control problem under the condition of continuous switching between individuals, the main contents are as follows: 1. The encircling control problem of a first order multi-agent system with random switching of information exchange topology is studied. Considering the first-order continuous multi-agent system composed of many static leaders and followers, based on the designed control protocol, it is proved that when the directed information exchange joint graph is globally reachable, the system can solve the problem of surround control. Simulation results verify the effectiveness of the results. 2. In this paper, the encircling control problem of second order multi-agent systems with information exchange topology switching is studied. The second order discrete multi-agent system composed of multiple dynamic leaders and followers is considered. Based on the designed control protocol, a mean square error function is constructed to transform the system equivalent. The second order bounding control problem is transformed into the stability problem of reduced order systems, and the sufficient conditions for the stability of error systems are obtained. That is to say, under this condition, the system can be surrounded by the solvable control problem. The simulation results verify the effectiveness of the results. 3. Under the condition of switched communication topology, the circumferential control problem of a class of multi-agent systems is studied. In a two-dimensional plane, a multi-agent system consisting of a static leader and a plurality of followers is considered. The control goal is that all the followers converge to the circle centered on the leader and move around the circle uniformly. To solve this problem, a distributed control protocol is proposed to estimate the position of the static leader, and a sufficient condition for all followers to converge to the specified circle is obtained. Secondly, a distributed control protocol for the movement of followers on the circle is designed, so that when the system meets the above sufficient conditions, all the followers are evenly distributed on the circle and move around. Simulation results show the effectiveness of the proposed method.
【學位授予單位】：蘭州交通大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP18;TP13

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