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多智能体系统一致性跟踪控制研究
李本凯
学位类型工学硕士
导师刘德荣
2018
学位授予单位中国科学院研究生院
学位授予地点北京
关键词多智能体系统 一致性 分布式控制算法 自适应控制 异构 切换拓扑
摘要在过去的二十年时间中,相比单一系统的控制,多智能体系统的控制受到了更广泛的关注,因为用多个智能体替换单个复杂智能体更有实际意义。相比于传统控制方法,基于多智能体的分布式控制策略可以有效地降低资源消耗,提高系统的灵活性、有效性和可靠性。一致性的思想是分布式多智能系统体协同算法设计的基本思想,同时也一直是分布式多智能体系统协同控制的主要研究方向。多智能体系统根据相互之间交互协议的不同,其通信拓扑结构可分为单领导与多领导,无向与有向,切换与固定等类型。本文主要研究多智能体系统的一致性跟踪控制问题。目前,一阶多智能体系统的分布式一致性控制已经有了完整的理论。而对于广义线性多智能体系统,尤其在带有外部干扰,有向拓扑,切换拓扑还有异构多智能体方向仍有较多研究空间。本文研究的多智能体系统是领导者跟随者系统。本文针对基于有向通信拓扑的领导者跟随者多智能体系统,设计了自适应分布式一致性控制器。本文还研究了异构多智能体系统的情况,并设计了针对基于切换通信拓扑的异构领导者跟随者多智能体系统的自适应分布式一致性控制器,同时具备一定的抗干扰能力。本文结合了图论、矩阵论以及控制理论,旨在拓展多智能体一致性控制的新领域,并设计更具实际意义的控制器。本文的主要贡献如下:
为避免依赖全局信息并解决有向拓扑的非对称难题,本文设计了自适应的分布式控制器,实现对领导者跟随者多智能体系统在有向通信拓扑下的一致性跟踪控制。控制器之间的耦合参数是自适应的,只依赖于领域内的智能体的相对误差。同时,为了解决有向拓扑结构的非对称性难题,该耦合参数在设计过程中进行了针对性调整,但仍然保证了初值的独立性,并能最终收敛到某个常数。同时,整个闭环系统可以收敛。
对于带有一定外部干扰的异构多智能体系统在切换拓扑状态下的一致性控制问题,本文设计了一种抗干扰的自适应分布式控制器,在多智能体系统满足联合连通的条件下,实现了一致性效果。同样的,控制器之间的耦合参数是自适应的,只依赖于领域内的智能体的相对误差。闭环系统以及耦合参数最终可以收敛,且稳态不受外部干扰的影响。

其他摘要In the past few decades, multi-agent systems have attracted more attention than single systems, because the design for multi-agent systems is more practical to meet the current requirements. Compared with the traditional control methods, distributed control strategy based on multi-agent systems can effectively reduce resource consumption and improve the flexibility, effectiveness and reliability of the system. Consensus, which focuses on how to make distributed controller to make the multi-agent systems reach a common goal, is a basic field of multi-agent systems. The consensus problem for single-integrator agents has been studied by many researches, and there have been many practical algorithms for this simple situation. As for general linear multi-agent systems, there is still room for improvement in the field of directed topology, switching topology and heterogeneous multi-agent systems. The multi-agent system studied in this paper is a leader-following system. In this paper, the leader-following multi-agent system based on directed communication topology is studied and an adaptive distributed controller is designed. Meanwhile, the case of heterogeneous multi-agent systems is also studied and an adaptive distributed protocol for heterogeneous multi-agent systems with exogenous disturbances in switching communication topology is proposed. Combining graph theory, matrix theory and control theory, this paper aims to expand the new field of consensus of multi-agent systems and design more practical controllers. The main contributions of this paper are as follows:
  1. To avoid the dependence on global information of communication topology and solve the asymmetry of directed topology, an adaptive distributed controller is designed in this paper to reach the consensus of leader-following multi-agent systems in directed communication topology. The coupling weights between agents are adaptive and depend only on the relative errors of agents in their domains.
  2. For the problem of consensus of heterogeneous multi-agent systems with exogenous disturbances in switching topology, a novel adaptive distributed protocol is proposed in this paper. With the multi-agent systems satisfying the jointly connectivity condition, the consensus can be reached. Similarly, the coupling weights between agents are adaptive and depend only on the relative errors of agents in their domains. The closed-loop system and the coupling parameters eventually converge, and the final steady state cannot be affected by exogenous disturbances.

文献类型学位论文
条目标识符http://ir.ia.ac.cn/handle/173211/21001
专题毕业生_硕士学位论文
作者单位中国科学院大学
推荐引用方式
GB/T 7714
李本凯. 多智能体系统一致性跟踪控制研究[D]. 北京. 中国科学院研究生院,2018.
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