【摘要】：隨著多智能體系統(tǒng)的一致性問題在傳感器網(wǎng)絡(luò)、編隊控制、無人機、移動機器人的協(xié)調(diào)控制等領(lǐng)域得到廣泛應(yīng)用,其已成為控制學(xué)科的一個研究熱點。在許多實際系統(tǒng)中,通信網(wǎng)絡(luò)帶寬和資源的有限性影響著系統(tǒng)一致性的實現(xiàn)。本文將引入事件觸發(fā)策略,在減少通信資源和計算資源消耗的同時確保系統(tǒng)達到一致性。本文主要研究內(nèi)容如下:(1)分析了自適應(yīng)事件觸發(fā)控制方案下多智能體的一致性。所提出的控制方案可以根據(jù)采樣數(shù)據(jù)動態(tài)調(diào)整觸發(fā)時間間隔,提高系統(tǒng)的控制性能,同時節(jié)省通信資源。通過Lyapunov穩(wěn)定性理論,用線性矩陣不等式給出一致性的條件。(2)考慮兩個具有相同拓撲結(jié)構(gòu)的多智能體網(wǎng)絡(luò),其中一個為領(lǐng)導(dǎo)層,另一個為跟隨層,用一種新的事件觸發(fā)牽引控制方案來實現(xiàn)兩個網(wǎng)絡(luò)之間的一致性。只有部分跟隨者可以與對應(yīng)的領(lǐng)導(dǎo)者直接通信,且事件觸發(fā)條件違反時更新牽引控制器。其次,把相應(yīng)的理論結(jié)果推廣到非線性系統(tǒng)。進一步,討論了線性網(wǎng)絡(luò)在事件觸發(fā)牽引控制下的H∞一致性。(3)針對網(wǎng)絡(luò)通信過程中信息需要量化的情況,分析了事件觸發(fā)下二階多智能體的量化一致性。基于事件觸發(fā)控制策略,提出一致性協(xié)議,并采用對數(shù)量化器對控制輸入進行量化處理。通過圖論和Lyapunov穩(wěn)定性理論,給出二階系統(tǒng)量化一致性的條件。
[Abstract]:With the consistency of multi-agent systems widely used in sensor networks, formation control, UAV, mobile robot coordination control and other fields, it has become a research hotspot in the field of control. In many practical systems, the limitation of communication network bandwidth and resources affects the realization of system consistency. In this paper, the event triggering strategy is introduced to ensure the consistency of the system while reducing the consumption of communication resources and computing resources. The main contents of this paper are as follows: (1) the consistency of multi-agent under adaptive event trigger control scheme is analyzed. The proposed control scheme can dynamically adjust the trigger time interval according to the sampled data, improve the control performance of the system and save communication resources. By using Lyapunov stability theory, the conditions of consistency are given by using linear matrix inequalities. (2) two multi-agent networks with the same topology are considered, one of which is the leadership, the other is the following layer. A new event-triggered traction control scheme is proposed to achieve the consistency between the two networks. Only part of the follower can communicate directly with the corresponding leader and update the traction controller if the event trigger condition is violated. Secondly, the corresponding theoretical results are extended to nonlinear systems. Furthermore, the H 鈭，

本文編號：2272245