CASIA OpenIR  > 毕业生  > 硕士学位论文
Thesis Advisor刘德荣
Degree Grantor中国科学院研究生院
Place of Conferral北京
Keyword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

Other AbstractIn 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.

Document Type学位论文
Recommended Citation
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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