多智能體編隊控制研究.pdf

1、青島大學(xué)碩士學(xué)位論文多智能體編隊控制研究姓名：譚娜申請學(xué)位級別：碩士專業(yè)：控制理論與控制工程指導(dǎo)教師：紀志堅20100604AbstractWiththedevelopmentofscientificandtheprogressoftechnological，artificialintelligenceresearchisdevelopingrapidlyofmultiagentsystemsinthisareaiSanewdevelo

2、pmentdirectionMulti—agentsystemsareanewdevelopmentdirectioninthisareaThispaperstudiescontrollabilityproblemsofmultiagentsystemsandsomeconnectionsbetweencontrollabilityandconsensus1Thispaperstudiesadiscretetimemodelofacla

3、ssofmultiagentsystemswithsingleleaderunderdirectedinterconnectiontopologiesAlsoanapproachisproposedtotransformakindofuncontrollablesystemtoacontrollableonebyassigningweightsbetweenagents2Thispaperstudiescontrollabilitypr

4、oblemsforcontinuoustimemulti—agentsystemsundersingleintegratordynamicsanddoubleintegratordynamics，respectivelyWereceiveaspecialtopologyandunderthistopology，thecontrollabilitywillchangewiththechangeofnumberoffollowerThenw

5、egetthecontrollabilityofmultiagentsystemsundersingle—integratordynamicsbeingthesamewiththeoneunderdoubleintegratordynamics3Thispaperstudiessomeconnectionsbetweencontrollabilityandconsensus：Ifamultiagentsystemwithsinglele

6、aderiscontrollable，itsolvesaconsensusproblem；whilethismaynotbethecaseifthenumberofleadersiSmorethanoneandSOon4Anuncontrollablemultiagentsystemcanbeturnedintoacontrollableonebyselectingappropriateweightsforcommunicationli

7、nks；whiletheconsensuspropertyisinvariantunderdifferentweightsItwillplayanimportantpartintheindustrialcontr015SeveralexamplesaregiventoillustratetheideasandthecorrespondingresultsKeywords：multiagentsystem；controllability；