【作者】 李明；

【导师】 马铁东； 韩花丽；

【作者基本信息】 重庆大学 ， 工程硕士（控制工程）（专业学位）， 2017， 硕士

【摘要】 大自然中有很多让人叹为观止的生物群体活动现象,比如鱼类的群游、鸟类的蜂拥、蚂蚁的搬家。自然界这些复杂的行为无法通过个体指挥来完成,因为单个个体的能力是有限的,但是通过很多个个体协作就可以来完成比较复杂的任务。这些个体协作的自然现象,也引发了很多学者延伸出对多智能体系统的大量研究,也相应获得了很多有意义的研究成果。多智能体系统在实际工程中的应用的趋势现在是变得越来越明朗与清晰,其相关的研究与实际的工程应用结合得也更加紧密。例如近些年来多智能体系统在无人机、卫星编队、智能机器人等方面都有相当迅速的发展进度,而对于很多类似于前面提到的智能机器人等对象的机械系统,我们都可以用拉格朗日系统为它们建立模型。在多智能体相关研究中我们对于拉格朗日系统的协同控制研究将为我们接下来的研究工作提供很大的帮助。本文先是对所要涉及到的图论理论和拉格朗日系统模型的推导以及其它一些基础知识点做了相关的说明介绍,接着分别对一种基于多拉格朗日系统的非仿射系统和参数不确定的多机器人系统进行了相关研究。对于所提出的控制方法,使用李雅普诺夫定理证明了系统的稳定性和有限时间的稳定。本文的主要内容如下:第一,针对一类基于多智能体的非仿射多机器人系统,我们将多机器人系统的复杂部分使用中值定理将控制器分离出来,并使用RBF神经网络对非线性进行逼近。最后利用李雅普诺夫稳定性理论证明跟随者机器人能够在有限时间内跟随到领导机器人,并采用仿真实例说明了设计算法的有效性。第二,针对一类基于多智能体的有界性参数不确定多机器人系统,系统的稳定性会因为参数的不确定而遭到破坏。针对所研究系统的参数不确定性以及机器人个体之间的通信滞后问题,在系统允许的摄动范围内设计了鲁棒控制器,这样可以使得多机器人系统有了一定的鲁棒性。同样,最后使用加权存储函数证明了这种不确定性的多机器人系统在有限时间内最终能达到一致收敛,对于设计方法的有效性通过实例仿真进行了说明。更多还原

【Abstract】 In natural,there are a lot of amazing creatures of the phenomenon of group activities,such as the group of fish swimming,birds flocking,and ants moving.The nature of these complex behavior can not be done by individual command because the ability of a single individual is limited,but through a lot of individual collaboration can complete more complex tasks.The natural phenomena of these individual cooperation,also have caused a lot of scholars to extend a large number of research on multi-agent systems and also get a lot of meaningful research results.The trend of the application of multi agent system in practical engineering is becoming more and more clear and clear.It is obvious that the research on it is more close to the practical engineering application.Many mathematical models of mechanical systems can be represented by the Lagrange model,such as robots,autonomous vehicles,satellites and so on.The research on the cooperative control of Lagrange system is still very meaningful in the research of multi-agents system.In this paper,we first introduce the graph theory and the derivation of Lagrange model and some other basic knowledge.Then,a non affine system based on multi Lagrange system and uncertain multi robot system are studied.We prove the stability of the system and the stability of finite time by using Lyapunov theorem and corresponding control methods are proposed.The main contents of this paper are as follows:First of all,for a class of non affine multi robot system based on multi agent,we use the mean value theorem to separate the complex parts of the multi robot system and use the RBF neural network to approximate the nonlinearity.Finally,the Lyapunov stability theory is used to prove that the follower robots can follow the lead robot in a finite time and the simulation results show the effectiveness of the designed algorithm.Secondly,for a class of uncertain multi-robots systems with bounded parameters based on multi agents,the stability of the system will be destroyed because of the uncertain parameters.According to the parameters of the research system of the uncertainty and the communication between the individual robot lag problem in the perturbation range to design a robust controller system allows,so it can make the multi robot system has certain robustness.At the same time,the weighted memory function is used to prove that the multi-robot system can converge uniformly in finite time.The effectiveness of the design method is illustrated by an example.更多还原