具有混杂特征的多智能体系统的分布式协调问题研究

In the practical production and life, lots of cooperation behaviors are completed by the agents with different dynamics. However, most existing works focus on multi-agent systems with the same dynamic agents. By virtue of the mathematical tools including algebraic graph theory, matrix theory, stability theory, differential inclusion, stochastic analysis, optimization theory and game theory, this project aims to analyze the distributed coordination of heterogeneous multi-agent systems (the system is composed by first-order and second-order integrator agents), switched multi-agent systems (the system is composed by continuous-time and discrete-time subsystems) and hybrid multi-agent systems (the system is composed by continuous-time and discrete-time dynamic agents). By designing the distributed protocols, some criteria are obtained for solving the distributed coordination. The first objective is to study the consensus, flocking and game behavior of heterogeneous multi-agent systems. The second objective is to study the (fixed-time) consensus, containment control, formation control and flocking of switched multi-agent systems. The third objective is to study the second-order consensus, containment control, distributed optimization and game of hybrid multi-agent systems. The research results of this project are expected to enrich and advance the theories on the distributed coordination of multi-agent systems.

现实生产和生活中，许多协调行为是由具有不同动力学结构的个体共同协作完成的，而已有的大部分研究主要集中在具有相同动力学结构个体组成的多智能体系统中。本项目以一阶和二阶积分器构成的异质多智能体系统、连续时间和离散时间子系统构成的切换多智能体系统、连续个体和离散个体构成的混杂多智能体系统为研究对象，采用代数图论、矩阵论、稳定性理论、微分包含、随机分析、最优化理论和博弈论等数学工具，深入研究其分布式协调问题，设计分布式协议，得到分布式协调可解的基本判据。（1）深入研究异质多智能体系统的一致性、群集行为和博弈行为；（2）研究切换多智能体系统的（固定时间）一致性、包围控制、编队控制和群集行为；（3）研究混杂多智能体系统的二阶一致性、包围控制、分布式优化和博弈行为。本项目的研究成果将进一步丰富和发展多智能体系统分布式协调的相关理论。

现实生产和生活中，许多协调行为是由具有不同动力学结构的个体共同协作完成的，而已有的大部分研究主要集中在具有相同动力学结构个体组成的多智能体系统中。项目以一阶和二阶积分器构成的异质多智能体系统、连续时间和离散时间子系统构成的切换多智能体系统、连续个体和离散个体构成的混杂多智能体系统为研究对象，采用代数图论、矩阵论、稳定性理论、微分包含、随机分析、最优化理论和博弈论等数学工具，深入研究其分布式协调问题，设计分布式协议，得到分布式协调可解的基本判据。（1）深入研究了异质多智能体系统的一致性、群集行为和博弈行为；（2）研究了切换多智能体系统的（固定时间）一致性、编队控制和群集行为；（3）研究了混杂多智能体系统的二阶一致性、包围控制、分布式优化和博弈行为。本项目的研究成果丰富和发展多智能体系统分布式协调的相关理论。