时延多智能体系统的协调控制

第1 章 绪论····························································· 1
1.1 多智能体系统简介··············································· 2
1.1.1 多智能体系统的定义····································· 2
1.1.2 多智能体系统的研究背景、意义······················· 4
1.2 多智能体系统控制的研究现状································· 6
1.2.1 多智能体系统一致性控制问题研究现状·············· 6
1.2.2 多智能体系统包容控制问题研究现状··············· 15
1.3 本书的研究内容················································ 18
1.3.1 本书主要研究内容介绍································ 18
1.3.2 本书章节安排··········································· 19
第2 章 相关知识···················································· 22
2.1 代数图论························································· 22
2.2 相关数学工具··················································· 25
2.3 系统的稳定性理论············································· 27
2.4 分数阶微积分相关知识······································· 29
2.5 包容控制相关定义············································· 30
第3 章 时延连续时间多智能体系统的包容控制··········· 32
3.1 研究背景························································· 32
3.2 问题描述························································· 33
3.3 基于无向网络拓扑的时延系统的包容控制················· 35
3.4 基于有向网络拓扑的时延系统的包容控制················· 38
3.4.1 带时延的一阶系统的包容控制························ 38
3.4.2 带时延的二阶系统的包容控制························ 43
3.4.3 带时延的分数阶系统的包容控制····················· 49
3.5 数值仿真························································· 54
3.5.1 实验1 ····················································· 54
3.5.2 实验2 ····················································· 57
3.5.3 实验3 ····················································· 60
3.5.4 实验4 ····················································· 62
3.5.5 实验5 ····················································· 65
3.6 本章小结························································· 68
第4 章 时延离散时间多智能体系统的包容控制··········· 70
4.1 研究背景························································· 70
4.2 问题描述························································· 71
4.3 基于无向网络拓扑时延离散系统的包容控制·············· 71
4.4 基于有向网络拓扑时延离散系统的包容控制·············· 74
4.4.1 一阶离散系统的情形··································· 74
4.4.2 二阶离散系统的情形··································· 80
4.5 基于切换拓扑的时延离散系统的包容控制················· 87
4.6 数值仿真························································· 90
4.6.1 实验1 ····················································· 90
4.6.2 实验2 ····················································· 92
4.6.3 实验3 ····················································· 94
4.7 本章小结························································· 97
第5 章 时延非线性多智能体系统的包容控制·············· 99
5.1 研究背景························································· 99
5.2 问题描述························································ 100
5.3 主要结果························································ 101
5.3.1 固定时延非线性多智能体系统的包容控制········ 101
5.3.2 时变时延非线性多智能体系统的包容控制········ 107
5.4 数值仿真························································ 111
5.4.1 实验1 ···················································· 111
5.4.2 实验2 ···················································· 115
5.4.3 实验3 ···················································· 116
5.5 本章小结························································ 117
第6 章 线性动态时延多智能体系统的包容控制·········· 118
6.1 研究背景························································ 118
6.2 问题描述························································ 119
6.3 时延线性系统的分布式包容控制··························· 120
6.4 基于状态观测器的时延线性系统的包容控制············· 125
6.5 时延线性系统的输出包容控制······························ 128
6.6 数值仿真························································ 133
6.6.1 实验1 ···················································· 134
6.6.2 实验2 ···················································· 137
6.6.3 实验3 ···················································· 140
6.6.4 实验4 ···················································· 142
6.7 本章小结························································ 145
第7 章 异质多智能体系统的协调控制··················· 147
7.1 研究背景························································ 147
7.2 混合阶异质多智能体系统问题描述························ 152
7.3 混合阶异质多智能体系统的一致性························ 154
7.3.1 无领导者网络中混合阶异质多智能体
系统的一致性控制问题······························· 154
7.3.2 领导-跟随网络中混合阶异质多智能体
系统的聚集问题··