摘要多智能体系统凭借很强的鲁棒性能和可扩展能力在军用和民用领域得到了广泛的应用。首先，本文以连续二阶多智能体系统为研究对象，设计了无时延和有常时延两种情况下的一致性协议，最终实现编队控制。在实际系统中，由于通信带宽限制及环境的约束，系统必然存在时变时延。之后，本文研究了具有时变通信时延的多智能体系统的分布式编队控制问题，探讨了控制协议中的参数对系统收敛性以及系统所允许的最大通信时延的影响。以上的研究都是针对连续系统。接着本文研究了离散的多智能体系统，followers跟踪时变参考状态，给出了系统实现编队和达到速度一致时协议所含参数必须满足的充分条件。最后利用matlab仿真验证所设计的一致性协议的有效性。64512

毕业论文关键词  多智能体系统  分布式编队控制  一致性  leader-following 拓扑  通信时延

毕业设计说明书（论文）外文摘要

Title  The distributed consensus of multi-agent systems and its application——the distributed formation control 

Abstract By virtue of high robustness and scalability, Multi-agent system are widely used in military and civil fields.Firstly,this paper have studies the second order consensus system.It has designed two kinds of consistency protocol, one  with time delay and another without.Finally,It has realized the formation control.Due to the communication bandwidth limitation and the constraints on environment, there must be time-varying delay in the actual system.Then,This paper also have studied the distributed formation of multi-agent systems with time-varying communication delay,probed into the influence of parameter in control protocol on the system’s convergence and the maximum communication time delay which permitted by the system.The above studies are focused on the continuous system.Then,this paper studies the discrete time multi-agent system with the followers track the variable reference state.It also have given the sufficient conditions that the parameters in consensus protocol should satisfy in order to realize formation and reach consensus speed.At last,simulation results illustrate the correctness of the designed consensus protocol.

Keywords Multi-agent systems  Distributed formation control  Consensus  Leader-following Topology  Communication time delay

1  绪论 1

1.1  本课题的研究背景和意义 1

1.2  研究现状分析 2

1.3  论文的结构和安排 4

2  预备知识和模型描述 4

2.1  多智能体系统模型的建立 4

2.1.1  基本数学知识 4

2.1.2  模型描述 5

2.2  多智能体系统的一致性问题 6

2.2.1  一致性问题描述 6

2.2.2 常见的多智能体系统编队控制一致性算法描述 6

2.3  本章小结 8

3  具有零时延和常时延的leader-following编队控制 8

3.1  引言 8

3.2  控制协议设计 9

3.3  主要结果 10

3.4  仿真研究 11

3.4.1  零时延网络仿真结果