通信時(shí)延下的多智能體協(xié)同控制方法

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作　者：	胡海韻
出版社：	國(guó)防工業(yè)出版社
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標(biāo)　簽：	暫缺

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ISBN：	9787118120981	出版時(shí)間：	2019-05-01	包裝：
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　　蜂擁控制和一致性控制是多智能體協(xié)同控制中具有重要意義的兩類(lèi)問(wèn)題?！锻ㄐ艜r(shí)延下的多智能體協(xié)同控制方法》首先深入探討了非完整約束車(chē)輛模型在通信時(shí)延下的蜂擁控制問(wèn)題，基于人工勢(shì)能法分別提出了在連續(xù)時(shí)間和離散時(shí)間條件下的分布式協(xié)同控制方法，并利用李雅普諾夫函數(shù)法證明了所提方法的有效性。然后，進(jìn)一步探討了仿射非線性系統(tǒng)在通信時(shí)延下的一致性控制問(wèn)題，分別提出了在連續(xù)時(shí)間和離散時(shí)間條件下的分布式協(xié)同控制方法，并給出了方法有效性的數(shù)學(xué)證明。

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圖書(shū)目錄

Chapter 1 Introduction
1．1 Overview of Multi-Agent Systems
1．2 Flocking Control of Multi-Agent Systems
1．3 Consensus Control of Multi-Agent Systems
1．4 Time-Delay Systems
1．5 Outline of the Book
Chapter 2 Fundamentals
2．1 Graph Theory
2．2 Potential Function Based Flocking Control
2．3 Lie Algebra
Chapter 3 Flocking of Nonholonomic Vehicles in the Continuous-Time Setting
3．1 Continuous-Time Nonholonomic Vehicle Model
3．2 Control Protocols
3．3 Analysis of Flocking Behavior
3．4 Simulation Examples
3．4．1 Flocking with a Complete Graph
3．4．2 Flocking with a Disconnected Graph
3．4．3 Collisions in Systems without Complete Graphs
Chapter 4 Flocking of Nonholonomic Vehicles in the Discrete-time Setting
4．1 Discrete-Time Nonholonomic Vehicle Model
4．2 Control Protocols
4．3 Analysis of Flocking Behavior
4．4 Simulation Examples
4．4．1 Flocking without Delays
4．4．2 Flocking with Delays
……
Chapter 5 Consensus of Nonlinear Multi-Agent Systems in the Continuous-Time Setting
Chapter 6 Consensus of Nonlinear Multi-Agent Systems in the Discrete-Time Setting
References