第12章 | 回到目錄 | 第14章 |
第13章-帶輸入時延的異構競争多智能體系統分組一緻性
- 13.1 引言
- 13.2 預備知識
- 13.3 問題描述與分析
- 13.4 例子與數值仿真
- 13.5 本章小結
13.1 引言
同構的多智能體系統,這就意味着所有智能體都具有相同的動力學行為。
13.2 預備知識
考慮由
q
+
p
q+p
q+p 個智能體組成的離散時間異構多智能體系統。為友善讨論,假設多智能體系統被分為2個子組。假設前
q
q
q 個智能體是二階的,剩餘的
p
p
p 個智能體是一階的。它們的動力學方程如下:
{
x
i
(
k
+
1
)
=
x
i
(
k
)
+
v
i
(
k
)
v
i
(
k
+
1
)
=
v
i
(
k
)
+
u
i
(
k
)
,
i
∈
φ
1
x
i
(
k
+
1
)
=
x
i
(
k
)
+
v
i
(
k
)
,
i
∈
φ
2
\left\{\begin{aligned} x_i(k+1) = x_i(k) + v_i(k)\\ v_i(k+1) = v_i(k) + u_i(k) \end{aligned}\right., i\in \varphi_1 \\ x_i(k+1) = x_i(k)+v_i(k), i\in \varphi_2
{xi(k+1)=xi(k)+vi(k)vi(k+1)=vi(k)+ui(k),i∈φ1xi(k+1)=xi(k)+vi(k),i∈φ2
13.3 問題描述與分析
根據競争關系建立的異構多智能體系統的新分組控制協定設計如下:
{
x
i
(
k
+
1
)
=
x
i
(
k
)
+
v
i
(
k
)
v
i
(
k
+
1
)
=
−
α
[
∑
j
∈
N
i
a
i
j
(
x
i
(
k
−
τ
)
+
x
j
(
k
−
τ
)
)
]
−
β
[
∑
j
∈
N
i
a
i
j
(
v
i
(
k
−
τ
)
+
v
j
(
k
−
τ
)
)
]
+
v
i
(
k
)
,
i
∈
φ
1
\left\{\begin{aligned} x_i(k+1) = x_i(k) + v_i(k) \\ v_i(k+1) = -\alpha [\sum_{j\in N_i} a_{ij}(x_i(k-\tau) + x_j(k-\tau))] &\\ -\beta [\sum_{j\in N_i} a_{ij}(v_i(k-\tau) + v_j(k-\tau))] + v_i(k) \end{aligned}\right. ,i\in\varphi_1
⎩⎪⎪⎪⎪⎪⎨⎪⎪⎪⎪⎪⎧xi(k+1)=xi(k)+vi(k)vi(k+1)=−α[j∈Ni∑aij(xi(k−τ)+xj(k−τ))]−β[j∈Ni∑aij(vi(k−τ)+vj(k−τ))]+vi(k),i∈φ1
{
v
i
(
k
+
1
)
=
−
β
[
∑
j
∈
N
i
a
i
j
(
x
i
(
k
−
τ
)
+
x
j
(
k
−
τ
)
)
]
+
w
i
(
k
)
+
x
i
(
k
)
w
i
(
k
+
1
)
=
−
α
[
∑
j
∈
N
i
a
i
j
(
x
i
(
k
−
τ
)
+
x
j
(
k
−
τ
)
)
]
+
w
i
(
k
)
,
i
∈
φ
2
\left\{\begin{aligned} v_i(k+1) = -\beta[\sum_{j\in N_i} a_{ij}(x_i(k-\tau) + x_j(k-\tau))] + w_i(k) + x_i(k) \\ w_i(k+1) = -\alpha [\sum_{j\in N_i} a_{ij}(x_i(k-\tau) + x_j(k-\tau))] + w_i(k) \end{aligned}\right. ,i\in\varphi_2
⎩⎪⎪⎪⎨⎪⎪⎪⎧vi(k+1)=−β[j∈Ni∑aij(xi(k−τ)+xj(k−τ))]+wi(k)+xi(k)wi(k+1)=−α[j∈Ni∑aij(xi(k−τ)+xj(k−τ))]+wi(k),i∈φ2