时延多智能体系统的协调控制

　　多智能体系统的协调控制问题是现代控制领域的一个研究热点， 本书主要围绕时延多智能体系统的包容控制问题， 介绍了连续时间、离散时间、非线性、一般线性等模型的多智能体系统的包容控制协议设计、系统的稳定性分析， 给出了系统实现包容控制在网络拓扑、控制参数、时间延迟等方面需要满足的条件。另外， 本书还研究了异质多智能体系统的协调控制和基于异构网络的二阶多智能体系统的包容控制等问题。本书是作者在密切跟踪该领域研究成果的基础上进行深入研究的结果，是一本全面论述时延多智能体系统协调控制的书籍。全书图文并茂， 深入浅出， 理论分析与实验仿真相结合， 可读性强。本书可作为控制理论、信息工程、计算机科学与技术等相关专业的高年级本科生、研究生的教学参考用书，也可以作为关注多智能体系统协调控制理论与实践的研究者的参考用书。

　　李勃，男，山东龙口市人。1990-1994年就读山东工业大学计算机学院；2003-2006年在山东大学攻读计算机系统结构专业硕士学位；2013-2016在南开大学计算机与控制学院攻读博士学位。

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········································ 158

7.3.3 领导-跟随网络中混合阶异质多智能体

系统的跟踪问题········································ 160

7.4 数值仿真························································ 165

7.4.1 实验1 ···················································· 165

7.4.2 实验2 ···················································· 168

7.4.3 实验3 ···················································· 172

7.5 本章小结························································ 175

第8 章 异构时延多智能体系统的包容控制············· 176

8.1 研究背景························································ 176

8.2 问题描述························································ 177

8.3 异构网络拓扑的时延多智能体系统的包容控制·········· 178

8.3.1 异构网络下多静态领导者连续时间多

智能体系统的包容控制······························· 178

8.3.2 异构网络下多动态领导者连续时间多

智能体系统的包容控制······························· 182

8.3.3 异构网络下离散时间多智能体系统的

包容控制················································ 183

8.4 数值仿真························································ 187

8.4.1 实验1 ···················································· 188

8.4.2 实验2 ···················································· 191

8.5 本章小结························································ 194

参考文献························································ 195