1、 I 摘摘 要要 近年来，随着应用需要以及科学技术的发展，多智能体系统的协同控制在世界范围 内掀起了一股研究热潮。作为多智能体系协同控制的基础。一致性问题主要是研究怎样 基于多智能体系中个体相互之间有限的信息交换，来设计符合的算法，使得所有智能体 的状态达到某个相同值的问题。 本文第一章主要是绪论，研究了一致性与本文的电机群网络的关系和研究的意义； 第二章主要写了一些基本概念，主要是图论和矩阵的概念，方便后面的计算；第三章分 析一阶快速一致性算法与二阶一致性算法，通过分析知道二阶一致性算法应用更为广 泛；第四章主要分析了双电机网络的协同控制，通过仿真和计算推出多电机网络的协同 控制。 本文基于
2、多智能体一致性理论， 一致性的角度解决网络环境下多电机的同步控制问 题，其中考虑了网络时延对同步控制的影响。每个电机均被视为一个智能体，且每个智 能体能且只能得到其邻域的输出测量信息。在此条件下，本文研究了在有向固定网络拓 扑和无向切换网络拓扑两种情况下多电机系统的同步控制问题。 关键词：关键词：多智能体系统；一致性；通信约束；有限时间收敛；电机群网络化；协同控制 基于一致性理论的电机群网络化协同控制 II Abstract In recent years, distributed coordination of multi-agent systems has attracted great
3、attention due to several technological advances in the fields of communication and computation. As a fundamental problem in distributed coordination of networks of dynamic agents, the consensus problem is to design appropriate protocols such that the group of vehicles can reach consensus on the shar
4、ed information in the presence of limited and unreliable information exchange and dynamically changing interaction topologies. In this paper, the first chapter is the introduction of consensus with the motor group network relationships and research significance; In the second chapter, some basic con
5、cepts are mainly written, which are the concepts of graph theory and matrix, and the calculation of the back is convenient; In the third chapter, the first order consistency algorithm and the two order consensus algorithm are analyzed, and the application of the two order consensus algorithm is more
6、 extensive; In the fourth chapter, the cooperative control of the dual motor network is analyzed, and the cooperative control of the multi motor network is introduced. Based on the consistency theory of multi-agent systems, this paper solves the synchronous control of multiple motors in the network environment from the point of control. The impact of network delays on the synchronization control is considered. Each motor is treated as an agent, and each agent can only get the output informati
