非线性耦合多智能体系统组编队跟踪控制

为研究非线性和双积分器耦合领导跟随多智能体系统的组编队控制问题,在处理多智能体系统的分组时,没有基于传统的保守假设(从一个组中的每个节点到其他组中的所有节点的相邻权值之和为零或其他常数),设计了一种新的控制协议。根据李雅普诺夫稳定性理论和代数图论,分别给出了双积分和非线性器二阶多智能体系统的组编队控制问题的充分条件,使得多智能体系统能够达到期望的几何结构并随着时间维持下去。最后,用两个数值仿真的例子验证了所得结论的有效性。     

基于多智能体的自主移动机器人混合式体系结构

针对自主移动机器人系统的设计需求提出了一种基于多智能体的混合式体系结构,统一规划了机器人系统的软硬件结构,在该体系结构中设计并实现了硬件接口、慎思式和反应式三种智能体,提出使用多样化的信息组织形式,增强了系统的自适应能力和易扩展性。在具体的物理实现上采用了基于CAN总线的控制结构,并对各组成部分给出了详细的描述。测试结果证明了本移动机器人系统设计的可行性和高效性。     

二阶多智能体系统的一致性分析

研究了二阶连续多智能体系统的一致性问题,其中每个智能体能够实时获得自己的速度信息,但是只能在一些离散时刻上获得自己和邻居的相对位置信息。在给定的控制输入下,建立了一致性成立的充要条件,并将该理论结果应用到多机器人编队控制问题中。提供的数值仿真进一步验证了理论结果的有效性。     

基于免疫多智能体的舰艇编队协同防空体系模型

借鉴生物免疫系统的性质和机制,结合多智能体理论与方法,提出了一种新的免疫多智能体网络(Immune Multi-Agent Network,IMAN)模型。根据舰艇编队协同防空体系和生物免疫系统在防御功能、自适应和自组织特性上相似的特点,将舰艇编队协同防空体系映射到生物免疫系统之中,设计了舰艇编队协同防空免疫智能体功能结构模型,并综合上述免疫多智能体网络模型IMAN及其免疫防御原理,构建了一种新颖的舰艇编队协同防空体系免疫多智能体网络模型,分析了舰艇编队协同防空体系免疫多智能体的免疫防御机制及其性质,旨在为舰艇编队协同防空体系研究开拓一种新思路,并为建立适合现代实战需要的作战仿真系统提供理论模型。     

机器人焊接柔性制造系统的多智能体协调控制

提出了利用分布式的多智能体协调控制技术实现对焊接柔性制造系统进行控制的思想。通过对集成多机器人和多传感器的焊接柔性制造系统进行焊接生产任务执行过程的分析,提出了针对焊接柔性制造系统的多智能体控制系统结构。最后利用JADE多智能体系统开发平台建立了一个多智能体控制系统,并通过实验验证了该系统的有效性及合理性。     

基于多智能体强化学习的多机器人协作策略研究

研究了一种基于智能体动作预测的多智能体强化学习算法. 在多智能体系统中,学习智能体选择动作不可避免地要受到其他智能体执行动作的影响,因此强化学习系统需要考虑多智能体的联合状态和联合动作.基于此,提出使用概率神经网络来预测其他智能体动作的方法,从而构成多智能体联合动作,实现了多智能体强化学习算法. 此外,研究了该方法在足球机器人协作策略学习中的应用,使多机器人系统能够通过与环境的交互学习来掌握行为策略,从而实现多机器人的分工和协作.     

舰艇编队协同防空体系免疫多智能体模型

针对舰艇编队协同防空问题, 根据舰艇编队协同防空体系与生物免疫系统防御机制和性质相似的特点, 实现了二者在结构和功能上的映射. 在此基础上, 结合多智能体理论与方法, 设计了舰艇编队协同防空体系的监测、调节和抗体等免疫智能体的功能结构模型, 构建出一种新颖的舰艇编队协同防空体系免疫多智能体(IMA)系统模型, 提出了免疫多智能体系统的形式化描述, 分析了舰艇编队协同防空体系免疫多智能体系统的免疫应答过程和机制. 该模型的防御机制具有自学习、自适应、自组织的特性, 充分体现了舰艇编队协同防空体系的协同防御机制和性质, 为舰艇编队协同防空体系研究开拓了一种新思路.     

基于多智能体的分布式交通信号协调控制方法

通过建立交通信号控制智能体BDI模型,提出了一种基于多智能体的分布式交通信号协调控制方法.通过相邻路口信号控制智能体的信息交互和协调,在确保路口绿灯时间利用率较高的前提下,尽量使相邻路口驶来的车队不停车地通过路口.编制交通控制微观仿真软件,在一个由8个路口组成的交通网络中对多种信号控制方式进行仿真实验,实验结果表明这种新控制方法的控制效果明显优于传统的定时控制和感应控制方式.     

时滞多智能体系统关于参考状态的信息一致性

研究了具有参考状态的有向通信时延多智能体系统的信息一致性问题.提出了适用于可连续通信并有通信时延的有向多智能体系统关于参考状态的一致性算法,严格推导了多智能体系统在该算法作用下达到信息一致性的充分性判据,最后以水下无人航行器协同作战为背景,仿真验证了所提出的一致性算法和判据的有效性.     

多智能体系统分布式控制的研究新进展

多智能体的运动协调和覆盖协调问题是多智能体系统的协调控制研究中的两个基本问题.综述当前这两个问题研究的主要内容及相应的主要结果,同时给出了仍然需要解决的问题和可能的研究方向.     

Distributed stereoscopic rotating formation control of networks of second-order agents

Distributed stereoscopic rotating formation control o networks of second-order agents is investigated.A distributed control protocol is proposed to enable all agents to form a stereoscopic formation and surround a common axis.Due to the existence of the rotating mode,the desired relative position between every two agents is time-varying,and a Lyapunov-based approach is employed to solve the rotating formation control problem.Finally,simulation results are provided to illustrate the effectiveness of the theoretical results.     

Observer-based multivariable fixed-time formation control of mobile robots

This paper proposes a multivariable fixed-time leaderfollower formation control method for a group of nonholonomic mobile robots, which has the ability to estimate multiple uncertainties. Firstly, based on the state space model of the leader-follower formation, a multivariable fixed-time formation kinematics controller is designed. Secondly, to overcome uncertainties existing in the nonholonomic mobile robot system, such as load change,friction, external disturbance, a multivariable fixed-time t...     

FLOCKING OF MULTI-AGENT DYNAMIC SYSTEMS WITH GUARANTEED GROUP CONNECTIVITY*

This paper investigates distributed flocking problem where the information exchange among agents is modeled by the communication topology changing with time. Previous research on this problem establishes group stabilization by assuming that the dynamic topology is connected all the time, which however cannot be guaranteed by most proposed distributed control laws. In this paper, a distributed algorithm to distill a necessary subgraph of the initial communication topology is presented. This subgraph covers all the vertices of the communication topology and is proved to be connected as long as the initial communication topology is connected. A distributed control law is then designed to pursue the flocking motion while preserving all the edges in this subgraph. In this way, connectivity can be preserved all the time, and flocking problem is thus solved only provided the initial communication topology of multi-agent system is connected.     

具有干扰的多自主体系统的群集运动与速度同步

针对具有干扰的二阶多自主体系统,提出了一种应用个体局部信息的分布式控制协议,给出了具有领航者的自主群体在受到外界干扰时取得群集运动与速度同步的充分条件。首先,对自主体设计一个干扰观测器。然后,基于观测器设计分布式控制协议,保证了具有领航者的自主群体能够取得群集运动与速度同步。最后通过例子进行仿真,结果表明结论的有效性。     

Leader-following consensus protocols for formation control of multi-agent network

Two protocols are presented,which can make agents reach consensus while achieving and preserving the desired formation in fixed topology with and without communication timedelay for multi-agent network.First,the protocol without considering the communication time-delay is presented,and by using Lyapunov stability theory,the sufficient condition of stability for this multi-agent system is presented.Further,considering the communication time-delay,the effectiveness of the protocol based on Lyapunov-Krasovskii function is demonstrated.The main contribution of the proposed protocols is that,as well as the velocity consensus is considered,the formation control is concerned for multi-agent systems described as the second-order equations.Finally,numerical examples are presented to illustrate the effectiveness of the proposed protocols.     

Leader-following coordination of multi-agent systems with information feedback

Based on the strategy of information feedback from followers to the leader, flocking control of a group of agents with a leader is studied. The leader tracks a pre-defined trajectory and at the same time the leader uses the feedback information from followers to the leader to modify its motion. The advantage of this control scheme is that it reduces the tracking errors and improves the robustness of the team cohesion to followers’ faults. The results of simulation are provided to illustrate that information feedback can improve the performance of the system.     

基于有限记忆的智能群体的群集运动与避障控制

在全局环境未知且存在静态障碍物的情况下,将群体扩展为具有有限记忆能力的智能群体,研究了该群体的群集运动及其避障行为.模型利用智能个体记忆单元的信息实时产生动态切换的拓扑网络结构;在人工势能结合速度一致策略的基础上,采用滚动窗口方法引入虚拟领航者,利用极限环方法解决群体避障问题,实现了快速且安全的群集运动控制.仿真结果验证了该模型的有效性.     

导弹协同作战编队飞行控制系统研究

提出了具有3个回路的导弹协同作战编队飞行控制系统,分别对3个回路进行设计分析,并重点分析导弹的四维制导控制外回路和编队控制回路。面向具有过载自动驾驶仪内回路的增广飞控系统,设计了基于总能量控制理论的高度/速度解耦控制器,能够实现导弹制导控制外回路的高度/速度解耦。基于导弹编队队形的位置偏差关系设计了导弹编队控制器,最后综合3个回路构成了导弹编队飞行控制系统。仿真结果表明,各回路以及导弹编队控制系统具有很好的控制性能,能够快速、稳定地完成导弹编队的队形调整动作,进而实现任务规划系统对导弹编队提出的作战任务。     

Adaptive robust control of mobile satellite communication system with disturbance and model uncertainties

The tracking and stable control of a typical shipmounted mobile satellite communication system(MSCS) is studied.Unlike the former studies based on simplified single-axis models,a tri-axis nonlinear model including the kinematic and dynamic features of the MSCS is used as the control object.An adaptive robust controller with trajectory planning is designed to deal with large parametric uncertainties and uncertain nonlinearities of the system.A theoretic performance result is given and proved.The designed adaptive robust controller and other two traditional controllers are tested in the comparative simulations under three different situations.The simulation results show the tracking and stable validity of the proposed controller.