异质多智能体系统的分布式协调问题研究

项目名称： 异质多智能体系统的分布式协调问题研究

项目编号： No.61304160

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 郑元世

作者单位： 西安电子科技大学

项目金额： 26万元

中文摘要： 现实生产和生活中，许多任务需要不同动力学结构的智能体共同协作完成，而先前的研究主要集中在具有相同动力学结构的齐次多智能体系统中，本项目研究由一阶和二阶积分器构成的异质多智能体系统的分布式协调问题。(1)针对通信中信息延迟、量化和丢失的情况，设计分布式协议，利用Lyapunov理论、代数图论和矩阵理论，得到异质多智能体系统达到一致的充分条件；(2)研究通信与状态相关的异质多智能体系统的群集行为。通过设计通信率函数和分布式协议，利用Lyapunov理论和Lasalle不变集原理，得到解决异质多智能体系统群集行为的充分条件；(3)针对不同情形下，设计有效的分布式协议，利用先前研究同类齐次多智能体系统的分布式协调问题和异质多智能体系统一致性问题的方法，得到不同通信拓扑下解决异质多智能体系统解决包围控制、编队控制和覆盖控制的充分/充要条件。

中文关键词： 异质多智能体系统；分布式协调；一致性；切换多智能体系统；拓扑选择

英文摘要： In the practical production and life, the dynamics of the agents coupled with others are different because of various restrictions or the common goals with mixed agents. However, previous researches of distributed coordination mainly facus on the homogeneous multi-agent systems. In this project, the distributed coordination of heterogeneous multi-agent systems will be considered, in which the agents are first-order and second-order integrator agents. The first objective is to design the distributed protocols for heterogeneous multi-agent systems with time-delay, quantization and loss in communication. By using the Lyapunov theory, algebraic graph theory and matrix theory, some sufficient conditions for consensus of heterogeneous multi-agent systems will be established. The second purpose is to study the flocking of heterogeneous multi-agent systems with state-dependent connectivity. Through designing the communication rate functions and distributed protocols, some sufficient conditions for solving the flocking of heterogeneous multi-agent systems will be obtained by applying the Lyapunov theory and Lasalle invariance principle. The third objective is to study the containment control, formation control and coverage control of heterogeneous multi-agent systems. By using the methods which are employed to study the

英文关键词： Heterogeneous multi-agent systems；Distributed coordination；Consensus；Switched multi-agent systems；Topology selection