多智能体系统群组一致性研究

As a hot issue, the study of multi-agent systems has attracted considerable attention for the domestic and international researchers recently. Its significance lies in its ability to resolve the problems which beyond the single-agent system of large, complex practical problems, and is widely used in many fields, such as nature, engineering and technology. It is helpful to the human understand and explore the nature. Therefore, the study on the multi-agent systems has profound meaning both in theory and in practical engineering. At the moment, there are lots of results on the study of consensus for multi-agent systems, however, it dose not mean that all the agents can reach consensus anytime. . This project focuses on the group consensus for multi-agent systems. Firstly, for the second order nonlinear dynamic systems with external disturbance and the uncertainty model, design the time-delay control law, discuss the group consensus. Then, combine with the theory of formation control, when the multi-agent systems reach the group consensus，the subsystems continue to move with the required shape. Finally, by using the finite time convergence theory, we study the finite time group consensus for second-order multi-agent system.

近年来，多智能体系统的研究作为一个研究热点问题，已经吸引了国内外许多专家学者的广泛关注，其意义就在于它能够解决那些超出了单个智能体系统所不能解决的大型的、复杂的现实问题，并广泛应用于自然界、工程技术等诸多领域，对于人类了解、探索自然界有重要的帮助。因此，多智能体系统的研究不论在理论还是在实际工程中，都具有深刻的意义。目前，关于多智能体系统的一致性研究已经取得了丰硕的成果，然而，并不是所有的多智能体系统都能达到一致性。. 本项目拟研究多智能体系统的群组一致性问题。首先，针对存在干扰和模型不确定的二阶非线性模型，设计带有时滞的控制协议，分析群组一致性问题，接着，将编队控制理论应用到群组一致性的研究上来，考虑多智能体系统在达到群组一致性后，子系统之间保持期望的队形继续运动，最后，应用有限时间收敛理论，研究了二阶多智能体系统的有限时间群组一致性控制。