基于预测控制的多智能体系统一致性及包围控制问题研究-车辆工程专业论文.docxVIP

兰州 兰州交通大学硕士学位论文 基于 基于预测控制的多智能体系统一致性及包围控制问题研究 万方数据 万方数据 万方数据 万方数据 摘 要 近年来，多智能体系统的协作控制是控制理论领域研究的热点问题之一。生物学 领域的研究结果表明，自然生物群拥有先进预测智能，个体有能力依据邻居的过去运动 轨迹和当前可用状态信息来确定其下一步行为。基于此，本文研究具有预测机制的多智 能体系统的协调控制问题，主要研究内容包括： (1) 研究了具有固定拓扑的一阶多智能体系统预测一致性问题。在采样信息协议下， 设计了一种带有预测项的分布式控制律，获得了系统可解一致性问题的充分必要条件。 仿真结果表明，所提算法较传统算法具有更快的收敛速度，且采样周期得到扩展。 (2) 研究了一阶多智能体系统预测包围控制问题。给出了一个具有多个静态领航者 的多智能体系统基于预测控制的分布式控制算法，获得了固定拓扑条件下系统可解包围 控制问题的充分必要条件。进而对切换拓扑情形进行了分析，表明在满足具有联合生成 树的条件下，预测控制项可以显著提升系统的收敛速度。 (3) 研究了一类具有动态领航者的二阶多智能体系统预测包围控制问题。给出了一 个含有预测控制项的二阶多智能体系统分布式控制协议，通过有规律地改变相应的控制 参数，得出各参数对系统求解包围控制问题性能的影响程度，获得参数选择的合适范围。 与不含预测项的系统相比较仿真结果表明所有跟随者都能快速地收敛到由领航者张成 的凸包内，并以与领航者相同的速度向前运动。 关键词：多智能体系统；模型预测控制；一致性；包围控制 论文类型：理论研究 - I - Abstract Recently, the cooperative control of multi-agent system becomes one of hot issues in the field of control theory. The research in biology shows that natural bio-groups have the advanced predictive intelligence and every individual has the ability to adopt the neighbors past trajectory and the current available information to determine its future motion. This thesis mainly studies the cooperative control of multi-agent system based on predictive control. The main contents are as follows. The predictive consensus of single-integrator multi-agent system with fixed topology is investigated. A distributed control protocol with predictive term is presented, and an algebraic-type necessary and sufficient condition is obtained under which consensus is achieved. Compared with traditional algorithm, the results of simulation illustrate that the proposed algorithm has faster convergence speed and the sampling period is extended. The predictive containment control of single-integrator multi-agent system is considered. A predictive control-based distributed control algorithm for multi-agent system with multiple static leaders is given and a necessary and sufficient condition for containment is acquired for the system with fixed topology. For the switching topology case, the analysis shows that the