二阶多智能体系统的一致性分析-信号与信息处理专业论文.docxVIP

Abstract Recently, more and more attentions have been paid to the study of consensus of multi-agent system. The consensus theory is widely applied in many fields, such as the control of formation in unmanned-aircraft system, synchronization of information in multi-sensor system, distributed computation over computer networks, and so on. Because there exist many nonlinear factors in the real world, for example, the noise or quantization in the communication of the agents, or the air resistance generated in the movement. And a great impact will be led to the consensus of the multi-agent system by these factors. Therefore, it’s meaningful for the investigation of the multi-agent system with nonlinear factors in the real world. This thesis, based on the previous works for consensus, the model is established. Through the applications of the theory of stability, algebraic graph, matrix and the statistic, the consensus problem for nonlinear second-order multi-agent system is studied. The contents of the thesis are summarized as follows. The consensus of second-order multi-agent system with quantized data is investigated. As far as we know, most of the previous works for multi-agent system with quantized data are based on first-order system. And the study for second-order system with quantized data is rare. To study the effect of the quantization to second-order system, the second-order multi-agent system with quantized data is modeled. And some necessary and sufficient conditions are obtained by the applications of the matrix and statistic theory. The consensus of a class of nonlinear second-order multi-agent system is investigated in this paper. A nonlinear second-order multi-agent system is modeled with considering the air resistance. By the Lyapunov method, some sufficient conditions of second-order static consensus are obtained when the topology of the system is fixed. Key words: multi-agent, consensus, quantization, nonlinear, second-order system, air resistance 目 录