【作者】 刘超；

【导师】 林鹏；

【作者基本信息】 中南大学 ， 工程（专业学位）， 2022， 硕士

【摘要】 随着通信技术及硬件设施的不断发展,多智能体分布式控制发展迅速,在军事、民用等领域应用广泛。多智能体系统在空间上是分布式存在且没有统一的处理中心,传统集中式控制策略难以直接应用。在多智能体分布式控制中,分布式包含控制是一个重要的研究问题,其旨在使所有跟随者智能体收敛于领导者智能体所形成的凸包,在无人机信息搜集、机器人控制等方面具有广泛的应用前景。在分布式包含控制的实际应用中,智能体通常面对未知甚至是不确定的工作环境,需要抑制甚至是消除外部扰动带来的不利影响。因此,本文关于多智能体系统的鲁棒L₂-L_∞包含控制问题的研究具有重要的研究价值。本文的主要研究内容如下:首先,研究了固定拓扑结构一阶多智能体系统的鲁棒L₂-L_∞包含控制问题。针对一阶动力学模型,设计分布式控制律,且构造李雅普诺夫函数,基于投影算子性质,在零输入和零状态两种情况下分别讨论了多智能体系统包含控制的收敛性,与鲁棒L₂-L_∞性能指标的实现,进而使外部扰动下多智能体系统输出的最大值最小化,提高系统抗干扰性能。其次,研究了拓扑结构切换下二阶多智能体系统的鲁棒L₂-L_∞包含控制问题。针对二阶动力学模型,设计分布式控制律,引入模型变换因子,对模型进行转换,基于李雅普诺夫稳定性理论与凸性性质,利用微分方程求解方法,结合比较定理,分析了多智能体系统的稳定性,给出鲁棒L₂-L_∞性能指标的实现条件。最后,构造数值仿真实例,验证理论分析结果的有效性。更多还原

【Abstract】 With the continuous development of communication technology and hardware facilities,multi-agent distributed control has developed rapidly,and has been widely used in military,civil fields and other fields.The multi-agent system is distributed in space and has no unified processing center,so the traditional centralized control strategy is difficult to apply directly.In multi-agent distributed control,distributed containment control is an important research problem,which aims to make all the following agents enter the convex hull formed by the leader agent.It has a wide application prospect in UAV information collection and robot control.In the practical application of distributed containment control,agents usually face unknown or even uncertain working environment and need to suppress or even eliminate the adverse effects of external disturbances.Therefore,the study of robust L₂-L_∞containment control for multi-agent systems in this paper has important research value.The main research contents of this paper are as follows:Firstly,the robust L₂-L_∞containment control problem for first-order multi-agent systems with fixed topology is studied.Based on the first-order dynamics model,the distributed control law is designed and the Lyapunov function is constructed.In combination with the properties of projection operator,the convergence of containment control and the realization of robust L₂-L_∞performance index of multi-agent systems under zero input and zero state are discussed respectively.Then,minimize the maximum of the output multi-agent system under the external disturbance,and improve the anti-interference performance of the system.Secondly,the robust L₂-L_∞containment control problem for second-order multi-agent systems with topological switching is considered.Aiming at the second-order dynamics model,the distributed control law is designed.Based on Lyapunov stability theory and convexity property,the stability of multi-agent system is analyzed by using the solution method of differential equation,combined with the comparison theorem.At the same time,a scale factor is introduced to linearize the model,and the realization conditions of the robust L₂-L_∞performance index are discussed.Finally,a numerical simulation example is introduced to verify the validity of the theoretical analysis results.更多还原