时延多智能体系统的协调控制

第1 章 绪论····························································· 1

1.1 多智能体系统简介··············································· 2

1.1.1 多智能体系统的定义····································· 2

1.1.2 多智能体系统的研究背景、意义······················· 4

1.2 多智能体系统控制的研究现状································· 6

1.2.1 多智能体系统一致性控制问题研究现状·············· 6

1.2.2 多智能体系统包容控制问题研究现状··············· 15

1.3 本书的研究内容················································ 18

1.3.1 本书主要研究内容介绍································ 18

1.3.2 本书章节安排··········································· 19

第2 章 相关知识···················································· 22

2.1 代数图论························································· 22

2.2 相关数学工具··················································· 25

2.3 系统的稳定性理论············································· 27

2.4 分数阶微积分相关知识······································· 29

2.5 包容控制相关定义············································· 30

第3 章 时延连续时间多智能体系统的包容控制··········· 32

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

3.2 问题描述························································· 33

3.3 基于无向网络拓扑的时延系统的包容控制················· 35

3.4 基于有向网络拓扑的时延系统的包容控制················· 38

3.4.1 带时延的一阶系统的包容控制························ 38

3.4.2 带时延的二阶系统的包容控制························ 43

3.4.3 带时延的分数阶系统的包容控制····················· 49

3.5 数值仿真························································· 54

3.5.1 实验1 ····················································· 54

3.5.2 实验2 ····················································· 57

3.5.3 实验3 ····················································· 60

3.5.4 实验4 ····················································· 62

3.5.5 实验5 ····················································· 65

3.6 本章小结························································· 68

第4 章 时延离散时间多智能体系统的包容控制··········· 70

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

4.2 问题描述························································· 71

4.3 基于无向网络拓扑时延离散系统的包容控制·············· 71

4.4 基于有向网络拓扑时延离散系统的包容控制·············· 74

4.4.1 一阶离散系统的情形··································· 74

4.4.2 二阶离散系统的情形··································· 80

4.5 基于切换拓扑的时延离散系统的包容控制················· 87

4.6 数值仿真························································· 90

4.6.1 实验1 ····················································· 90

4.6.2 实验2 ····················································· 92

4.6.3 实验3 ····················································· 94

4.7 本章小结························································· 97

第5 章 时延非线性多智能体系统的包容控制·············· 99

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

5.2 问题描述························································ 100

5.3 主要结果························································ 101

5.3.1 固定时延非线性多智能体系统的包容控制········ 101

5.3.2 时变时延非线性多智能体系统的包容控制········ 107

5.4 数值仿真························································ 111

5.4.1 实验1 ···················································· 111

5.4.2 实验2 ···················································· 115

5.4.3 实验3 ···················································· 116

5.5 本章小结························································ 117

第6 章 线性动态时延多智能体系统的包容控制·········· 118

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

6.2 问题描述························································ 119

6.3 时延线性系统的分布式包容控制··························· 120

6.4 基于状态观测器的时延线性系统的包容控制············· 125

6.5 时延线性系统的输出包容控制······························ 128

6.6 数值仿真························································ 133

6.6.1 实验1 ···················································· 134

6.6.2 实验2 ···················································· 137

6.6.3 实验3 ···················································· 140

6.6.4 实验4 ···················································· 142

6.7 本章小结························································ 145

第7 章 异质多智能体系统的协调控制··················· 147

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

7.2 混合阶异质多智能体系统问题描述························ 152

7.3 混合阶异质多智能体系统的一致性························ 154

7.3.1 无领导者网络中混合阶异质多智能体

系统的一致性控制问题······························· 154

7.3.2 领导-跟随网络中混合阶异质多智能体

系统的聚集问题········································ 158

7.3.3 领导-跟随网络中混合阶异质多智能体

系统的跟踪问题········································ 160

7.4 数值仿真························································ 165

7.4.1 实验1 ···················································· 165

7.4.2 实验2 ···················································· 168

7.4.3 实验3 ···················································· 172

7.5 本章小结························································ 175

第8 章 异构时延多智能体系统的包容控制············· 176

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

8.2 问题描述························································ 177

8.3 异构网络拓扑的时延多智能体系统的包容控制·········· 178

8.3.1 异构网络下多静态领导者连续时间多

智能体系统的包容控制······························· 178

8.3.2 异构网络下多动态领导者连续时间多

智能体系统的包容控制······························· 182

8.3.3 异构网络下离散时间多智能体系统的

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

8.4 数值仿真························································ 187

8.4.1 实验1 ···················································· 188

8.4.2 实验2 ···················································· 191

8.5 本章小结························································ 194

参考文献························································ 195