二阶邻居协议下多智能体系统可控性及仿生机器鱼模型研究-控制科学与工程专业论文.docxVIP

Abstract Controllability of multi-agent systems has attracted more and more attention of scholars in the field of control. However, controllability under protocol of second-order neighbours is a new research topic. This paper studies the controllability of multi-agent systems by using the information of second-order neighbours, the main results and contributions of this paper are list as follows: This paper first introduces knowledge about graph theory and the commonly used matrix and theorems in analysis of controllability, and then introduces control model of continuous-time linear system in detail. The definition of second-order neighbours and systems control model under protocol of second-order neighbours are given. Under the conditions of constant topology, the applicability of some theorem under protocol of first-order neighbours were reexamined under protocol of second-order neighbours. Controllability change of path and other simple graph controllability change under protocol of second-order neighbours is analyzed. Through the analysis, we can obtain that with the increase of system individuals, it is unlikely for a graph with using the information of second-order neighbours to be controllable. This paper discusses the controllability of path and star graph using the protocol of second-order neighbours on the basis of leader-follow er model, controllability theorems of single leader and multi-leader are given. For a class of multi-agent systems using protocol of second-order neighbours which is uncontrollable, by selecting appropriate weights for edges between some agents, we change the uncontrollable systems into controllable, and several examples are given to illustrate the corresponding results. Finally, this paper proposals for motion control of biomimetic robotic fish, and then the advantages and disadvantages of the three methods are analyzed. The developing trends of motion control of the biomimetic robotic fish are the method based