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西北民族大学2012级毕业论文多智能体系统的编队控制研究年级:2012级学号:P121813972姓名:龙浩男专业:自动化指导老师:郭凌二零一六年六月西北民族大学本科毕业论文第II页摘要本文主要研究智能体的编队控制问题，通过智能体编队控制提高空间智能体密度，增加空间容量，有效地增强交通的畅通和安全。此外,智能体编队控制可以降低智能体所受阻力,降低智能体能量损耗,有效的减少了开支。故智能体系统编队控制有很大的研究意义。近年来，智能体系统编队问题逐渐成为控制领域研究的热点之一。智能体系统编队控制研究很重要的一个问题，就是让智能体形成并保持一个期望的编队队形。本文主要研究是结合理论知识，利用智能体自身约束条件，建立智能体运动学模型，设计其控制律，使得智能体系统在任何的起始位置都能实现期望的编队队形，并保持期望队形。本文的主要研究内容如下：首先，根据针对近年对智能体编队控制的研究，以及对目前的研究进行的分析和总结，提出了智能体在编队控制研究中存在的不足。接着，分析并解决目前智能体在编队控制中存在的不足。针对四轮智能体自身存在的约束关系，并特别考虑到智能体自身转向问题，建立单个智能体的数学模型。选择编队里面某一组领航者与跟随者作为研究对象，根据领航跟随者编队方法，对这两个智能体设立了基本的运动学模型，得到了更加优良的领航跟随者编队模型。最后，采用Lyapunov控制算法，设计了合适的跟随者控制器。通过Matlab仿真验证控制器设计的正确性，充分的满足智能体编队控制的要求，使整个编队保持期望的队形运行。关键词：编队控制；领航跟随者；Lyapunov算法；Maltlab仿真西北民族大学本科毕业论文第III页AbstractThispaperstudiestheformationofintelligentcontrolofthebody,throughtheintelligentcontroltoimprovespatialintelligencebodyformationdensity,increasedspacecapacitytoeffectivelyenhancethesafetyandsmoothflowoftraffic.Inaddition,agentscanreducetheformationwithagentbyairdrag,reducingfuelconsumption,effectivelysavingenergy.Studysomegreatresearchvaluesothatagentsystemformationcontrol.Inrecentyears,agentsystemformationcontrolproblemisbecomingoneofthehotresearchscholars.Veryimportantquestionishowtocreateandmaintainadesirablebodyformationinintelligentcontrolsystemformation.Thispaperstudiesacombinationoftheoreticalknowledge,theuseofintelligentbody'sownconstraints,theestablishmentofintelligentbodykinematicsmodel,thedesignofitscontrollawsothatagentsysteminanarbitraryinitialpositiontoachieveagivenformationflying,andmaintained.Themaincontentsareasfollows:Firstofall,accordingtorecentstudiesontheformationcontrolagentfor,andanalyzeandsummarizethecurrentresearch,thelackofproposedformationcontrolagentinthepresenceofthestudy.Secondly,analyzeandsolvethelimitationsofthecurrentformationcontrolinthepresent.Forfouragentsaccordingtotheconstraintsofitsownexistence,andtoconsidertheagentsteeringsystem,amathematicalmodelofasingleagent.Thenselecttheformationsofagroupleaderandfollowersastheresearchobject,accordingtotheleaderfollowerformationmethod,thetwoagentsestablishedbasickinematicmodeltogiveamorecompletemodelofthepilotfollowers.Finally,accordingtotheleaderfollowermodelestablishedusingLyapunovcontrolalgorithmdesignsuitablefollowercontroller.ByMatlabsimulationcontrollerdesigncorrectness,fullymeettherequirementsofformationcontrolagent,sothatthewholefleettomaintainthedesiredformationrun.Keywords:FormationControl;leaderfollower;Lyapunovalgorithm;Matlabsimulation西北民族大学本科毕业论文第IV页目录摘要..............................................................................................................................IIABSTRACT..........................................................................................................................II第1章绪论....................................................................................................................V1.1研究目的和意义....................................................................................................V1.1.1研究目的.....................................................................................................11.1.2研究意义.....................................................................................................11.2国内外研究现状....................................................................................................21.2.1编队控制研究方法.....................................................................................21.2.2多智能体编队控制研究中的不足.............................................................41.3研究的主要内容及方法.......................................................................................4第2章系统模型...............................................................................................................52.1单个智能体运动学模型.........................................................................................52.2领航跟随者编队模型.............................................................................................62.2.1领航跟随者运动模型.................................................................................72.2.2跟随者的位置误差.....................................................................................92.3本章小结...............................................................................................................10第3章控制器设计........................................................................................................1V3.1问题描述..............................................................................................................1V3.2多智能体控制器设计.........................................................................................1VI3.2.1设计思路...................................................................................................113.2.2设计控制器...............................................................................................123.3本章小结.............................................................................................................14第4章系统仿真..................................................................................