人工智人-家居设计-多智能体系统的部分分量一致性.pdf
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Abstract
II
Abstract
With the development of science and technology progress rapidly, the consensus
problem of multi-agent systems is widely using in physics, information science,
coordinated control of multiple autonomous vehicles and formation control and other fields.
Consensus problem, as one of the most basic problems in coordination control of
multi-agent systems, has been sustained attention in the fields of research. Generally,
consensus is a phenomenon that a system composed of agents under the control of the role
of the agreement, the position or velocity state variables achieve consensus asymptotically.
This thesis mainly uses the other related knowledge, such as in the graph theory,
matrix theory and Lyapunov stability theory and so on. By designing appropriate controls
and using Matlab to verify the correctness of the theoretical results, the problem of partial
component consensus in the multi-agent systems is studied.
The main contents of the thesis are as follows:
1.A brief introduced to be the background and significance of the consensus problem
in multi-agent systems, and summarize the research history and development of the
consensus problem.
2.This thesis introduces the preliminary knowledge of the consensus in multi- agent
system and the significant lemmas used in it.
3.This thesis addresses the partial component consensus of leader-following
multi-agent systems. A concept on partial component consensus in multi-agent systems is
first given, which is a weaker dynamic behavior of groups in comparison with the
consensus in general, and then the problem of partial component consensus in
leader-following first-order multi-agent systems with the directed network topology is
discussed. By designing an appropriate pinning control protocol and building
corresponding error systems, partial component consensus in multi-agent systems is
transformed into the partial variable stability of the error systems. Using matrix theory and
stability theory, a sufficient condition is given to realize partial component consensus in
multi-agent systems. Numerical simulations are given to illustrate the theoretical results.
4.This thesis addresses the partial component consensus of first-order
leader-following discrete-time multi-agent systems. First, by designing an appropriate
pinning control and utilizing matrix theory and stability theory, and then a sufficient
condition is given to realize partial component consensus of discrete-time multi-agent
systems. Finally, numerical simulations are given to illustrate the theoretical results.
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