時延多智能體系統(tǒng)的協(xié)調(diào)控制

第1 章 緒論····························································· 1

1.1 多智能體系統(tǒng)簡介··············································· 2

1.1.1 多智能體系統(tǒng)的定義····································· 2

1.1.2 多智能體系統(tǒng)的研究背景、意義······················· 4

1.2 多智能體系統(tǒng)控制的研究現(xiàn)狀································· 6

1.2.1 多智能體系統(tǒng)一致性控制問題研究現(xiàn)狀·············· 6

1.2.2 多智能體系統(tǒng)包容控制問題研究現(xiàn)狀··············· 15

1.3 本書的研究內(nèi)容················································ 18

1.3.1 本書主要研究內(nèi)容介紹································ 18

1.3.2 本書章節(jié)安排··········································· 19

第2 章 相關知識···················································· 22

2.1 代數(shù)圖論························································· 22

2.2 相關數(shù)學工具··················································· 25

2.3 系統(tǒng)的穩(wěn)定性理論············································· 27

2.4 分數(shù)階微積分相關知識······································· 29

2.5 包容控制相關定義············································· 30

第3 章 時延連續(xù)時間多智能體系統(tǒng)的包容控制··········· 32

3.1 研究背景························································· 32

3.2 問題描述························································· 33

3.3 基于無向網(wǎng)絡拓撲的時延系統(tǒng)的包容控制················· 35

3.4 基于有向網(wǎng)絡拓撲的時延系統(tǒng)的包容控制················· 38

3.4.1 帶時延的一階系統(tǒng)的包容控制························ 38

3.4.2 帶時延的二階系統(tǒng)的包容控制························ 43

3.4.3 帶時延的分數(shù)階系統(tǒng)的包容控制····················· 49

3.5 數(shù)值仿真························································· 54

3.5.1 實驗1 ····················································· 54

3.5.2 實驗2 ····················································· 57

3.5.3 實驗3 ····················································· 60

3.5.4 實驗4 ····················································· 62

3.5.5 實驗5 ····················································· 65

3.6 本章小結························································· 68

第4 章 時延離散時間多智能體系統(tǒng)的包容控制··········· 70

4.1 研究背景························································· 70

4.2 問題描述························································· 71

4.3 基于無向網(wǎng)絡拓撲時延離散系統(tǒng)的包容控制·············· 71

4.4 基于有向網(wǎng)絡拓撲時延離散系統(tǒng)的包容控制·············· 74

4.4.1 一階離散系統(tǒng)的情形··································· 74

4.4.2 二階離散系統(tǒng)的情形··································· 80

4.5 基于切換拓撲的時延離散系統(tǒng)的包容控制················· 87

4.6 數(shù)值仿真························································· 90

4.6.1 實驗1 ····················································· 90

4.6.2 實驗2 ····················································· 92

4.6.3 實驗3 ····················································· 94

4.7 本章小結························································· 97

第5 章 時延非線性多智能體系統(tǒng)的包容控制·············· 99

5.1 研究背景························································· 99

5.2 問題描述························································ 100

5.3 主要結果························································ 101

5.3.1 固定時延非線性多智能體系統(tǒng)的包容控制········ 101

5.3.2 時變時延非線性多智能體系統(tǒng)的包容控制········ 107

5.4 數(shù)值仿真························································ 111

5.4.1 實驗1 ···················································· 111

5.4.2 實驗2 ···················································· 115

5.4.3 實驗3 ···················································· 116

5.5 本章小結························································ 117

第6 章 線性動態(tài)時延多智能體系統(tǒng)的包容控制·········· 118

6.1 研究背景························································ 118

6.2 問題描述························································ 119

6.3 時延線性系統(tǒng)的分布式包容控制··························· 120

6.4 基于狀態(tài)觀測器的時延線性系統(tǒng)的包容控制············· 125

6.5 時延線性系統(tǒng)的輸出包容控制······························ 128

6.6 數(shù)值仿真························································ 133

6.6.1 實驗1 ···················································· 134

6.6.2 實驗2 ···················································· 137

6.6.3 實驗3 ···················································· 140

6.6.4 實驗4 ···················································· 142

6.7 本章小結························································ 145

第7 章 異質(zhì)多智能體系統(tǒng)的協(xié)調(diào)控制··················· 147

7.1 研究背景························································ 147

7.2 混合階異質(zhì)多智能體系統(tǒng)問題描述························ 152

7.3 混合階異質(zhì)多智能體系統(tǒng)的一致性························ 154

7.3.1 無領導者網(wǎng)絡中混合階異質(zhì)多智能體

系統(tǒng)的一致性控制問題······························· 154

7.3.2 領導-跟隨網(wǎng)絡中混合階異質(zhì)多智能體

系統(tǒng)的聚集問題········································ 158

7.3.3 領導-跟隨網(wǎng)絡中混合階異質(zhì)多智能體

系統(tǒng)的跟蹤問題········································ 160

7.4 數(shù)值仿真························································ 165

7.4.1 實驗1 ···················································· 165

7.4.2 實驗2 ···················································· 168

7.4.3 實驗3 ···················································· 172

7.5 本章小結························································ 175

第8 章 異構時延多智能體系統(tǒng)的包容控制············· 176

8.1 研究背景························································ 176

8.2 問題描述························································ 177

8.3 異構網(wǎng)絡拓撲的時延多智能體系統(tǒng)的包容控制·········· 178

8.3.1 異構網(wǎng)絡下多靜態(tài)領導者連續(xù)時間多

智能體系統(tǒng)的包容控制······························· 178

8.3.2 異構網(wǎng)絡下多動態(tài)領導者連續(xù)時間多

智能體系統(tǒng)的包容控制······························· 182

8.3.3 異構網(wǎng)絡下離散時間多智能體系統(tǒng)的

包容控制················································ 183

8.4 數(shù)值仿真························································ 187

8.4.1 實驗1 ···················································· 188

8.4.2 實驗2 ···················································· 191

8.5 本章小結························································ 194

參考文獻························································ 195