Expert discovery and knowledge mining in complex multi-agent systems

Complex problem solving requires diverse expertise and multiple techniques. In order to solve such problems, complex multi-agent systems that include both of human experts and autonomous agents are required in many application domains. Most complex multi-agent systems work in open domains and include various heterogeneous agents. Due to the heterogeneity of agents and dynamic features of working environments, expertise and capabilities of agents might not be well estimated and presented in these systems. Therefore, how to discover useful knowledge from human and autonomous experts, make more accurate estimation for experts＇ capabilities and find out suitable expert（s） to solve incoming problems （＂Expert Mining＂） are important research issues in the area of multi-agent system. In this paper, we introduce an ontology-based approach for knowledge and expert mining in hybrid multi-agent systems. In this research, ontologies are hired to describe knowledge of the system. Knowledge and expert mining processes are executed as the system handles incoming problems. In this approach, we embed more self-learning and self-adjusting abilities in multi-agent systems, so as to help in discovering knowledge of heterogeneous experts of multi-agent systems.     

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。     

Uncoupled PID Control of Coupled Multi-Agent Nonlinear Uncertain systems

In this paper, PID (proportional-integral-derivative) controllers will be designed to solve the tracking problem for a class of coupled multi-agent systems, where each agent is described by a second-order high-dimensional nonlinear uncertain dynamical system, which only has access to its own tracking error information and does not need to communicate with others. This paper will show that a 3-dimensional manifold can be constructed based on the information about the Lipschitz constants of the system nonlinear dynamics, such that whenever the three parameters of each PID controller are chosen from the manifold, the whole multi-agent system can be stabilized globally and the tracking error of each agent approaches to zero asymptotically. For a class of coupled first-order multi-agent nonlinear uncertain systems, a PI controller will be designed to stabilize the whole system.     

Sliding Mode Formation Control of Nonlinear Multi-agent Systems with Local Lipschitz Continuous Dynamics

In this paper, the multi-agent formation problem of networked nonlinear multi-agent systems with local Lipschitz continuous dynamics under directed interaction topology, is investigated.Based on the nonlinear dynamics satisfying locally Lipschitz continuous conditions, three kinds of sliding mode controllers are proposed to solve the problem of multi-agent formation control. Using integral sliding mode controller in first-order system, formation shape is achieved within finite time.For second-order system, on the one hand, non-singular terminal sliding mode function is adopted to accomplish the system asymptotic convergence. Furthermore, super-twisting algorithm is proposed to make multi-agent achieve the desired formation within finite time. Lyapunov functions are applied in the whole paper to ensure the system stability. Numerical simulation examples are provided to demonstrate the effectiveness of the proposed sliding mode control methods.     

Consensus control design for multi-agent systems using relative output feedback

This paper studies the consensus problem of multi-agent systems in which all agents are modeled by a general linear system. The authors consider the case where only the relative output feedback between the neighboring agents can be measured. To solve the consensus problem, the authors first construct a static relative output feedback control under some mild constraints on the system model. Then the authors use an observer based approach to design a dynamic relative output feedback control. If the adjacent graph of the system is undirected and connected or directed with a spanning tree, with the proposed control laws, the consensus can be achieved. The authors note that with the observer based approach, some information exchange between the agents is needed unless the associated adjacent graph is completely connected.     

Constrained cooperative control design for distributed morphing wing systems

An efficient design method is proposed for the cooperative control problem of morphing wing systems with distributed structures and bounded control inputs. The multi-agent model of the distributed morphing wing system is established. The cooperative controllers with saturation constraints are presented. By introducing the concepts in consensus algorithms, the cooperative information links in the controllers are described by graphs, and the corresponding Laplacian matrix is defined. The design conditions of the cooperative controllers are proposed, in the form of linear matrix inequalities. For the case of undirected information links, the controller design conditions are simplified as algebraic inequalities, which highly reduce the computation cost. The designed controllers are implemented on a distributed morphing wing platform, and experiments are carried out. Simulation and experiment results show that the controllers can make all the actuating units in the morphing wing system cooperatively achieve the desired positions, which demonstrates the effectiveness of the proposed theory.     

RELAXED CONDITIONS FOR CONSENSUS IN MULTI-AGENT COORDINATION

This paper proposes relaxed sufficient conditions for the consensus of multi-agent systems by the averaging protocols with time-varying system topology. Bidirectional information exchange between neighboring agents is considered and both the discrete-time and continuous-time consensus protocols are studied. It is shown that the consensus is reached if there exists an unbounded time sequence such that two agents who own the maximum and minimum states at each time instant in the sequence will be jointly connected at some future time. Further, this result is applied to the original nonlinear Vicsek model, and a sufficient condition for the heading consensus of the group with restricted initial conditions is obtained.     

多区域网型结构电力系统鲁棒重叠分散控制

研究一类多区域网型结构特殊重叠电力系统的鲁棒分散控制问题。根据电力系统本身的结构信息约束,提出一种新的互联系统鲁棒分散控制方法。该方法根据大系统包含原理的约束条件,对系统的结构进行重叠分解处理,然后利用线性矩阵不等式(LMI)方法设计系统的鲁棒分散控制器。将该方法应用到一个四区域网型结构电力系统的自动发电控制控制(AGC)中,其仿真结果表明按此方法设计的控制器较直接使用LMI方法能使系统具有更令人满意的控制性能。     

单边Lipschitz非线性多智能体系统一致性追踪控制

针对单边Lipschitz非线性多智能体系统,提出了一种分布式一致性控制方法.首先,构建了领导-跟随者动力学结构,用于实现单边Lipschitz多智能体系统的追踪控制.然后,设计了单边Lipschitz非线性多智能体系统的一致性控制协议,可根据智能体之间局部交互信息构建分布式反馈控制,并将系统的一致性追踪问题转化为系统...     

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.     

基于保证集的多智能体系统自触发控制

为了解决网络化信息物理系统中分布式控制器的实时执行问题,在智能体状态可达集的基础上,提出了一种基于保证集的新的分布式自触发控制策略。在这一策略下,智能体向彼此发送关于它们自身可达状态的信息,即状态的保证集。这些保证集提供的信息使得每个智能体可以在未来自治地安排需要请求新信息的时刻,也为在较低的执行代价下仍能保证较好的性能水平奠定了基础。理论上证明了,在所提出的分布式策略下的李雅普诺夫函数是单调不增的。一个多智能体系统运动控制问题的仿真结果验证了所提方法正确性。     

多Agent协作的拼配类决策支持系统研究与实现

在分析和获取拼配经验知识的基础上，建立了一种基于Agent协作的拼配类决策支持系统，即在知识和数据表达，以及拼配模型建立的基础上，通过创建控制Agent(CA)和执行Agent(EA)来实现知识与模型结合、计算与推理并行、协作交互控制的分布式处理机制，完全符合实际拼配的要求。文章阐述了系统的构成，知识与数据的表示，拼配算法模型的建立、协作交互处理的流程等，最后给出了系统在出口茶叶拼配中的应用。     

Consensus of Heterogeneous Multi-Agent Systems with Intermittent Communication

This paper studies consensus of a class of heterogeneous multi-agent systems composed of first-order and second-order agents with intermittent communication. For leaderless multi-agent systems, we propose a distributed consensus algorithm based on the intermittent information of neighboring agents. Some sufficient conditions are obtained to guarantee the consensus of heterogeneous multi-agent systems in terms of bilinear matrix inequalities(BMIs). Meanwhile, the relationship between communication duration and each control period is sought out. Moreover, the designed algorithm is extended to leader-following multi-agent systems without velocity measurements. Finally, the effectiveness of the main results is illustrated by numerical simulations.     

混合式微小卫星编队飞行控制仿真系统设计

提出了一种混合式的微小卫星编队飞行控制仿真系统。该系统由三个节点组成,即两个模拟卫星和一个控制中心,节点之间通过星间网络进行数据交换。模拟卫星由星上计算机和各种星上敏感器和模拟执行器构成。星上计算机接收星上敏感器的物理输出,并经过星地转换模型对传感器数据进行修正。在一定的控制策略下,卫星控制模型进行计算产生控制输出,控制输出在控制界面上进行显示,并同时作用于传感器修正模块,实现系统的闭环控制。控制中心主要提供强大的计算功能,也可以单独构成一颗数字卫星。在这个控制仿真系统中,能够进行多种控制策略的仿真,包括双星主从控制、双星协同控制、三星主从控制、三星协同控制以及单星失效模式等。     

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。     

一种基于FIRE模型的Agent联合测谎算法

FIRE模型改进了SPORAS模型,更适用于开放性的问题求解要求。检测相互合作的Agent是否说谎、以及对说谎现象进行有效控制能够提高多Agent系统模型的实用价值。基于FIRE模型,提出一种对说谎Agent进行联合测度与控制的算法,是对Zacharia和Jennings等人关于多Agent系统信任和名誉模型的研究工作的进一步延续。     

基于Agent的农业经济智能决策支持系统研究

将分布式人工智能中的Agent技术融于现代农业经济管理决策支持系统的研究与开发中,提出了基于Agent的农业经济智能决策支持系统(AEIDSS)的结构和组成,引入界面Agent、管理Agent、数据Agent、模型Agent、知识Agent以及各类决策职能Agent构成系统的主要部件,分析了基于分类器系统的Agent实现方法,探讨了在多Agent通讯与合作环境下实现农业经济系统的动态分析、评估、预测以及优化等决策支持功能的工作原理。图2,参13。     

组合控制器在交流传动系统中的应用及参数整定

介绍一种用组合控制器控制的交流传动系统，该系统综合利用模糊控制和PID控制的优点，来提高系统的动态和稳态性能。利用状态观测器修正因系统参数变化及系统的非线性赞成的控制误差，引入正交试验法进行参数整定，采用平滑方式实现两种控制的切换，仿真结果表明系统性能优良，并具有实时性强，便于实现等特点。     

复杂任务下的多智能体协同进化算法

针对多智能体系统在处理复杂任务时存在的低效率、高冗积、多智能体系统内协同模型算法存在交互冲突、资源损耗过高等问题, 提出一种基于复杂任务的多智能体系统优化算法。在差分进化算法与局部优化算法的基础上对二者进行优化, 结合强化学习的训练框架, 构建训练网络, 通过对学习步长进行修订, 改变种群迭代优化准则, 使得种群在计算力充足的情况下可以实现全局收益最大化, 有效解决了指挥控制系统过程中的协同优化问题。     

Multi-agent cooperative intrusion response in mobile adhoc networks

The nature of adhoc networks makes them vulnerable to security attacks. Many security technologies such as intrusion prevention and intrusion detection are passive in response to intrusions in that their countermeasures are only to protect the networks, and there is no automated network-wide counteraction against detected intrusions. the architecture of cooperation intrusion response based multi-agent is propose. The architecture is composed of mobile agents. Monitor agent resides on every node and monitors its neighbor nodes. Decision agent collects information from monitor nodes and detects an intrusion by security policies. When an intruder is found in the architecture, the block agents will get to the neighbor nodes of the intruder and form the mobile firewall to isolate the intruder. In the end, we evaluate it by simulation.