摘要近年来，通信等领域技术的飞速发展为多智能体领域的发展提供了技术上的支持，使得多智能体编队控制成为了眼下一个热点研究问题。多智能体编队控制指的是由多个智能体组成的团队在向特定目标运动或执行任务过程中，相互之间保持预定的几何形态，同时又要适应环境约束的控制问题。多智能纯方位编队控制是多智能体编队控制的重要组成部分，由于多智能体系统在编队运动过程中由于噪声、或距离量测设备失效等因素的干扰，会导致各智能体仅能获取到相互之间的角度信息。为此，如何在仅有角度信息的情况下保持编队队形的稳定性具有深远的意义。
本论文主要研究多智能体纯方位编队控制算法，首先介绍纯方位三角形编队控制，其次介绍结合距离和角度测量的三角形编队控制，最后讨论三个智能体以上的多智能体纯角度编队控制。对已有方法进行分析研究并进行一定的归纳总结，通过仿真实验验证了自己的结论。25577
毕业论文关键词 多智能体 编队控制 纯方位 算法 仿真
毕业设计说明书外文摘要
Title Distributed control of formations using bearing-only Measurements
Abstract
In recent years, the rapid development of communications and information technology in recent years provide developments in the multi-agent domains with support technologically, making the multi-agent formation control become a hot research topic in current academia.
The problem of multi-agent formation control is to keep the desired geometry shape
and react to the constraints of environment when a group made up of multiple agents are moving to the specific target or going to perform tasks. Multi-agent bearing-only formation control is a important part of Multi-agent formation control. The interference of noise or the failure of distance measuring equipment may happen to the multi-agent system in the process of motion , which could lead to each one only obtain angle information. Therefore, how to maintain the stability of the formation in the case of bearing-only information is of significance.
Bearing-only multi-agent formation control algorithms are studied in this thesis. This paper firstly introduces bearing-only triangular formation control of a mutli-agent system which only consist of three agents, then a control of triangle formations with a mix of angle and distance measurement is given. Finally, we discuss distributed bearing-only formation control of multi-agent systems which contain more than three agents. Conduct analysis and summary of existing methods and verify my conclusions by simulation experiments.
Keywords multi-agent, formation control, bearing-only, algorithm, simulation
目 次
1 绪论 1
1.1 课题背景及意义 … 1
1.2 多智能体纯方位编队控制国内外研究现状 1
1.3 若干有待解决问题 1
1.4 本文主要研究内容 3
2 多智能体纯方位三角形编队控制 4
2.1 控制对象及控制问题描述 … 4
2.2 纯方位三角形编队控制律 … 5
2.3 控制系统的误差 … 6
2.4 控制律的稳定性分析 … 8
2.5 此问题的拓展 9
2.6 仿真结果和分析 … 10
3 多智能体三角形编队角度距离混合控制 14
3.1 控制对象及控制问题描述 … 14
3.2 角度距离混合控制律控制律 14
3.3 控制系统的误差 … 15
3.4 稳定性分析 … 18
3.5 仿真结果和分析 20
4 三个以上智能体纯方位编队控制 23
4.1 控制对象及控制问题描述 … 23
4.2 三个以上智能体纯方位控制律 … 23 多智能体分布式纯方位编队控制算法研究:http://www.751com.cn/zidonghua/lunwen_19424.html