時(shí)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(jiǎn)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(wèn)題研究現(xiàn)狀·············· 6

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

1.3 本書(shū)的研究?jī)?nèi)容················································ 18

1.3.1 本書(shū)主要研究?jī)?nèi)容介紹································ 18

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

第2 章 相關(guān)知識(shí)···················································· 22

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

2.2 相關(guān)數(shù)學(xué)工具··················································· 25

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

2.4 分?jǐn)?shù)階微積分相關(guān)知識(shí)······································· 29

2.5 包容控制相關(guān)定義············································· 30

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

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

3.2 問(wèn)題描述························································· 33

3.3 基于無(wú)向網(wǎng)絡(luò)拓?fù)涞臅r(shí)延系統(tǒng)的包容控制················· 35

3.4 基于有向網(wǎng)絡(luò)拓?fù)涞臅r(shí)延系統(tǒng)的包容控制················· 38

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

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

3.4.3 帶時(shí)延的分?jǐn)?shù)階系統(tǒng)的包容控制····················· 49

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

3.5.1 實(shí)驗(yàn)1 ····················································· 54

3.5.2 實(shí)驗(yàn)2 ····················································· 57

3.5.3 實(shí)驗(yàn)3 ····················································· 60

3.5.4 實(shí)驗(yàn)4 ····················································· 62

3.5.5 實(shí)驗(yàn)5 ····················································· 65

3.6 本章小結(jié)························································· 68

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

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

4.2 問(wèn)題描述························································· 71

4.3 基于無(wú)向網(wǎng)絡(luò)拓?fù)鋾r(shí)延離散系統(tǒng)的包容控制·············· 71

4.4 基于有向網(wǎng)絡(luò)拓?fù)鋾r(shí)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?fù)涞臅r(shí)延離散系統(tǒng)的包容控制················· 87

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

4.6.1 實(shí)驗(yàn)1 ····················································· 90

4.6.2 實(shí)驗(yàn)2 ····················································· 92

4.6.3 實(shí)驗(yàn)3 ····················································· 94

4.7 本章小結(jié)························································· 97

第5 章 時(shí)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(wèn)題描述························································ 100

5.3 主要結(jié)果························································ 101

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

5.3.2 時(shí)變時(shí)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(shí)驗(yàn)1 ···················································· 111

5.4.2 實(shí)驗(yàn)2 ···················································· 115

5.4.3 實(shí)驗(yàn)3 ···················································· 116

5.5 本章小結(jié)························································ 117

第6 章 線性動(dòng)態(tài)時(shí)延多智能體系統(tǒng)的包容控制·········· 118

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

6.2 問(wèn)題描述························································ 119

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

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

6.5 時(shí)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(shí)驗(yàn)1 ···················································· 134

6.6.2 實(shí)驗(yàn)2 ···················································· 137

6.6.3 實(shí)驗(yàn)3 ···················································· 140

6.6.4 實(shí)驗(yàn)4 ···················································· 142

6.7 本章小結(jié)························································ 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(wèn)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(wú)領(lǐng)導(dǎo)者網(wǎng)絡(luò)中混合階異質(zhì)多智能體

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

7.3.2 領(lǐng)導(dǎo)-跟隨網(wǎng)絡(luò)中混合階異質(zhì)多智能體

系統(tǒng)的聚集問(wèn)題········································ 158

7.3.3 領(lǐng)導(dǎo)-跟隨網(wǎng)絡(luò)中混合階異質(zhì)多智能體

系統(tǒng)的跟蹤問(wèn)題········································ 160

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

7.4.1 實(shí)驗(yàn)1 ···················································· 165

7.4.2 實(shí)驗(yàn)2 ···················································· 168

7.4.3 實(shí)驗(yàn)3 ···················································· 172

7.5 本章小結(jié)························································ 175

第8 章 異構(gòu)時(shí)延多智能體系統(tǒng)的包容控制············· 176

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

8.2 問(wèn)題描述························································ 177

8.3 異構(gòu)網(wǎng)絡(luò)拓?fù)涞臅r(shí)延多智能體系統(tǒng)的包容控制·········· 178

8.3.1 異構(gòu)網(wǎng)絡(luò)下多靜態(tài)領(lǐng)導(dǎo)者連續(xù)時(shí)間多

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

8.3.2 異構(gòu)網(wǎng)絡(luò)下多動(dòng)態(tài)領(lǐng)導(dǎo)者連續(xù)時(shí)間多

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

8.3.3 異構(gòu)網(wǎng)絡(luò)下離散時(shí)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(shí)驗(yàn)1 ···················································· 188

8.4.2 實(shí)驗(yàn)2 ···················································· 191

8.5 本章小結(jié)························································ 194

參考文獻(xiàn)························································ 195