具有领导者的多智能体系统协同控制研究

Research on cooperative control of multi-agent systems with leaders

本文主要介绍了多智能体系统的分布式控制问题.首先,给出了图论的相关知识,这类知识是研究多智能体系统协同控制的必备的基础理论,然后讨论了具有同构系统动态的追踪问题,再进一步考虑具有结构不确定,并且每个追随者都受到外部扰动的情况.利用分布式补偿器解决了系统结构不一致的难题,再利用内模原理克服了系统不确定的难题.最后阐述了多智能体系统的包含控制问题,通过设计恰当的分布式协议,使得所有追随者的信息收敛到多个领导者所形成的凸包内.最后进行了协同控制的展望.

This paper presents cooperative control of multi-agent systems.First,some knowledge about graph theory has been addressed,which are the necessary basic theories in resolving the cooperative control problems.Then we present the tracking problems of identical certain networks.Moreover,the case that the dynamics of the agents are uncertain,and all the followers suffer the external disturbance are discussed.To overcome these problem,the distributed compensator and internal model method are used.At last,these kinds of tracking problems are extended to study the multiple leaders.All the states or outputs of the followers converge to the convex hull of the leaders' states or outputs.Some future works about cooperative control are given at the end of this paper.