基于MAS的无人机新型编队算法

无人机群极大地拓宽了无人机的应用领域,有效地弥补了单架无人机执行任务的缺陷。本文针对无人机群的运动一致性和编队控制,将领导者-跟随者法中领导者与跟随者的控制算法进行集成,设计了一种基于多智能体系统(MAS)的新型无人机编队控制算法。该算法既适用于领导者又适用于跟随者,并且可随机指定无人机为领导者,领导者可以受到跟随者导航反馈的影响,提高了系统的适应性和可伸缩性。理论分析表明,无人机群不会发生碰撞并且能够收敛到期望的编队队形。再经过数值模拟验证了算法的速度和轨迹跟踪能力。结果表明,该算法能保证一群无人机按预定的编队和航迹飞行。     

非线性多智能体网络的分布式包容控制

针对具有本质非线性动态的多智能体网络,研究分布式包容控制问题.假设只有部分个体已知领航者信息,依据相对位置和速度信息设计分布式控制律.基于代数图论、矩阵理论和Lyapunov稳定性分析方法,得出非线性网络实现渐近包容控制的充分条件.当跟随者之间有向强连通且每个跟随者都至少存在一个领航者与其通信,可选取合适的控制增益使得跟随者渐近收敛到由多个领航者所围成的静态凸包中.仿真实例验证了理论分析的正确性和有效性.     

基于MAS的合作—竞争编队研究

基于牧羊犬跟羊群的自然现象,研究了一类具有合作—竞争拓扑的一阶多智能体系统的新型编队问题.针对每个智能体以领导—跟随者法设计了一种分布式编队控制算法,实现了合作—竞争交互网络的编队运动.利用结构平衡的独立强连通分量(SBiSCCs)推导出了一个充分条件,以确保所有智能体以分布方式进行合作—竞争编队运动.最后,通过数值仿...     

多智能体系统的有限时间跟踪控制

基于领导-跟随者模型研究了多智能体系统的有限时间跟踪控制问题。针对领导者状态是时变的情况,提出了一类非线性有限时间跟踪控制算法,在固定网络拓扑结构下,利用Lyapunov有限时间稳定性理论和矩阵理论分析,得到了该算法使得系统中跟随者状态在有限时间内与领导者状态达到一致的充分条件;在切换网络拓扑结构下,提出了一类有限时间跟踪控制算法,在领导者的状态是时不变的情况下,给出了该算法使得系统实现有限时间跟踪控制的充分条件。仿真实例验证了所提出两类算法的有效性。     

基于领导者对称的多智能体系统可控性研究

在领导者-跟随者的框架下,针对多智能体系统中存在自同构结构对可控性产生影响的问题。利用矩阵论和图论作为工具,提出了系统是否存在自同构结构的判定依据。通过自同构的分析,本文对系统的能控性判断提出了图论方面的判断方法。另外,本文还通过置换矩阵将单领导者对称系统推广到多领导者对称系统,研究了单领导者对称系统与多领导者对称系统的不可控性,为更进一步研究复杂的拓扑结构可控性问题提供了研究方向和方法。     

复杂网络特性与多智能体的一致性

对复杂网络特性与多智能体系统的一致性的关系进行研究,以BBV和BA网络模型为例,分别研究了度正相关性和度负相关性的网络模型中多智能体系统一致性的收敛速度.应用计算机仿真实例,分析了无尺度网络模型的平均距离和平均集群系数与多智能体系统一致性的影响,得到了复杂网络结构与多智能体系统一致收敛速度的关系.该研究对于构建一个多智...     

基于动态拓扑有领航者的智能群体群集运动控制

对具有二次积分动态的智能群体跟随领航者实现群集运动编队,提出了一个分散控制方法对智能群体进行分散控制。基于动态时变有领航者的网络拓扑,用图论模型表示智能体之间的相互作用及通信关系,运用推广的Lyapunov理论、微分包含及非平滑分析进行了稳定性分析,并得到所有智能体速度方向收敛到同一方向并与领航者保持一致;所有智能体速度大小收敛并与领航者相同;互连的智能体之间没有碰撞发生;所有智能体的人工势场函数被最小化等重要结论。给出了一个仿真实例,验证了该方法的有效性。     

群体沟通意见模式涌现的因素影响分析

通过将群体沟通的规则和意见调整的方式,抽象成为多智能体组织中的智能体相互作用关系和个体决策函数,通过构建多智能体模型,模拟分析了群体不同的沟通特性和沟通策略对群体沟通最终意见模式的影响.研究表明,个体之间的相互包容度高到一定程度的时候,群体通过沟通可以形成一致意见;个体接受他人意见的程度高低对群体沟通意见形成的最终模式影响不大,但对意见最终模式形成的快慢影响大;全局沟通可以达成清晰集中的意见,但沟通需要时间长;部分成员沟通形成相对集中的意见所需沟通轮次多;组织管理上的分权不利于群体达成集中的意见,而集权可以获得相对集中的意见.     

具有弱通讯的多智能体分布式自适应协同跟踪控制

针对具有弱通讯的高阶严反馈非线性多智能体系统,提出一种新颖的分布式自适应反演控制方法,并研究了该系统的协同跟踪控制问题。首先,以5个智能体作为被控对象,其中一个智能体以分布式结构组成“领航者-跟随者”编队模式,并且将领航者的运动速度作为整个编队系统的前行速度,其余智能体作为跟随者跟随领航者编队运动。其次,采用自适应反演方法,对系统中由于弱通讯导致的不确定参数进行自适应估计,并对系统设计补偿追踪控制律,使系统中的智能体能够实现自主跟踪时变的参考轨迹,最终以最优的轨迹避开障碍物,并保持期望队形运动。接着,根据Lyapunov稳定性理论,证明了所提方法的有效性。最后,通过仿真对比表明,所提方法能够使多智能体系统的横向、纵向跟踪误差以及参考轨迹的相对误差均实现快速收敛,并在跟踪过程中保持该系统渐近稳定。     

B2B电子市场环境下供需双方博弈分析

研究了B2B电子市场环境下一个供应商和一个零售商组成的供应链.在销售期之前,供应商作为领导者,首先决定批发价格;作为跟随者,零售商决定零售价格和订购数量.在销售期,供应商和零售商可以在B2B电子市场中交易.在假定供应商和零售商都是风险规避类型的条件下,建立博弈模型并分别求解出供应商和零售商的最优策略.最后,论文分析了B2B电子市场价格波动率对供应商和零售商最优策略的影响.     

Time-Variant Consensus Tracking Control for Networked Planar Multi-Agent Systems with Non-Holonomic Constraints

A time-variant consensus tracking control problem for networked planar multi-agent systems with non-holonomic constraints is investigated in this paper. In the time-variant consensus tracking problem, a leader agent is expected to track a desired reference input, simultaneously, follower agents are expected to maintain a time-variant formation. To solve the time-variant consensus tracking problem of planar multi-agent systems with non-holonomic constraints, a time-variant consensus tracking control strategy is designed on the basis of an unidirectional topology structure. One of main contributions of this paper is the time-variant consensus tracking protocol for general time-variant formations of planar multi-agent systems with non-holonomic constraints, the other main contribution of this paper is an active predictive control strategy, where predictions of agents are generated actively, so that the computational efficiency is improved than passive approaches. The proposed control strategy is verified by two types of time-varying formations of wheeled mobile robots, and the experimental results show that the proposed control strategy is effective for general time-variant consensus tracking problems of planar multi-agent systems with non-holonomic constraints in local and worldwide networked environments.     

考虑时延的多Euler-Lagrange系统自适应神经网络协调跟踪控制

考虑存在通讯时延,在有向通讯拓扑结构下研究多Euler-Lagrange系统的协调跟踪控制问题。仅有部分跟随者可以获得静态领航者信息。对每一个跟随者设计了一种分布式观测器,以获得领航者的状态量。针对系统模型具有非线性不确定性和外部扰动情况,基于神经网络方法提出了两种分布式自适应协调控制律,分别使每一个跟随者对领航者的跟踪误差最终有界和渐近收敛到零。运用Lyapunov稳定性理论对两种控制律的稳定性进行了证明。数值仿真验证了本文提出的控制律的有效性。     

Data-Driven Leader-Follower Output Synchronization for Networked Non-Linear Multi-Agent Systems with Switching Topology and Time-Varying Delays

This paper studies the output synchronization problem for a class of networked non-linear multi-agent systems with switching topology and time-varying delays. To synchronize the outputs, a leader is introduced whose connectivity to the followers varies with time, and a novel data-driven consensus protocol based on model free adaptive control is proposed, where the reference input of each follower is designed to be the time-varying average of the neighboring agents’ outputs. Both the case when the leader is with a prescribed reference input and the case otherwise are considered. The proposed protocol allows for time-varying delays, switching topology, and does not use the agent structure or the dynamics information implicitly or explicitly. Sufficient conditions are derived to guarantee the closed-loop stability, and conditions for consensus convergence are obtained, where only a joint spanning tree is required. Numerical simulations and practical experiments are conducted to demonstrate the effectiveness of the proposed protocol.     

单亲遗传算法的选择方式

给出了单亲遗传算法的几种常用选择方式 ,并指出单亲遗传算法的全局收敛性和收敛速度与选择方式有关。锦标赛选择方式和父子竞争选择方式不能保证算法的全局收敛性 ,但有较快的收敛速度 ;按适应度比例选择方式在引入了最优保持操作后能保证算法的全局收敛性 ,但收敛速度较慢。     

Robust Semi-Global Leaderless Consensus and Containment Control of Identical Linear Systems with Imperfect Actuators

This paper investigates both the robust semi-global leaderless consensus problem and the robust semi-global containment control problem for a group of identical linear systems with imperfect actuators. The imperfect actuators are characterized by nonlinearities such as saturation and dead zone and there input output relationships are not precisely known. The dynamics of follower agents are also affected by the input additive disturbances. Low-and-high gain feedback consensus protocols are constructed to solve these problems. More specifically, it is shown that robust semi-global leaderless consensus can be achieved over a connected undirected graph and robust semi-global containment control can be achieved when each follower agent has access to the information of at least one leader agent. Numerical simulation illustrates the theoretical results.     

Fixed-Time Leader-Following Formation Control of Fully-Actuated Underwater Vehicles Without Velocity Measurements

This paper is concerned with formation control of fully-actuated underwater vehicles (FUVs), focusing on improving system convergence speed and overcoming velocity measurement limitation. By employing the fixed-time control theory and command filtering technique, a full state feedback formation algorithm is proposed, which makes the follower track the leader in a given time with all signals in the system globally practically stabilized in fixed time. To avoid degraded control performance due to inaccurate velocity measurement, a fixed-time convergent observer is designed to estimate the velocity of FUVs. Then the authors give an observer-based fixed-time control method, with which acceptable formation performance can be achieved in fixed time without velocity measurement. The effectiveness and performance of the proposed method are demonstrated by numerical simulations.

     

占线订单排序D-收益函数下改进的随机策略

对于订单具有紧交货期限且以最大化完工总收益为目标的占线订单排序问题,Woeginger提出了完工收益与订单长度满足D-收益函数的模型,并给出了竞争比为4的最优确定性策略.针对该模型设计了竞争比为2的一个简单随机策略,该结论改进了Epstein和Levin(2008)的竞争比2.455 4.     

一种成本和收益不同的双头垄断期权博弈模型

以新市场模型为基础，在不对称双头期权博弈框架下研究企业的投资决策。当领先企业为了获得长期的先动优势．要比跟随企业付出更大的成本时，领先企业与跟随企业的成本比值与两个临界值的关系决定了投资决策和博弈均衡结果，在给定先动优势的情况下，随着占先成本的增大，企业抢先的积极性套越来越弱。     

COMPETITIVE INVESTMENT STRATEGIES IN NEW TECHNOLOGY ADOPTION WITH A FURTHER NEW TECHNOLOGY ANTICIPATED

This paper studies a general dynamic duopoly in which two firms compete in the adoption of current technology with a further new technology anticipated. Three kinds of equilibria may occur in technology adoption, namely the preemptive, sequential, and simultaneous equilibrium, depending on the level of operating costs and the first-move advantage. It shows that the faster technological innovation encourages the leader to invest earlier, while induces the follower to invest later. Furthermore, like the investment costs, with the increase of the operating costs, the follower tends to invest later, while the leader tends to invest earlier. However, the investment thresholds are more sensitive to the change of the operating costs than that of the investment costs.