多智能体系统协作及控制机理和基本问题分析

首先介绍智能体的概念，并从协作、协调一致性，理性原理及冲突等方面，较为全面而深化入地分析阐述了多智能体系统协从航控制的机理和基本问题。     

协作机器人学的研究现状与发展

随着机器人向系统应用的方向发展，提出了由多机器 人构成的群体或社会的组织与控制问题．多机器人协作问题已成为机器人学研究领域的热点 之一．其中基于分布式人工智能中多智能体系统理论，研究多机器人协作问题正受到普遍关 注．本文对协作机器人学的研究现状进行了综述，并展望了其未来的发展．     

Multi-Agent层次协作模型在RoboCup中的应用

RoboCup是多Agent系统研究的一个很好的平台。建立一支成功的机器人足球队需要很多领域的知识，合理的模型结构和Agent之间的协调与协作是RoboCup比赛中赢球的关键所在，协调与协作是多Agent系统研究的重要课题。针对RoboCup仿真比赛的多智能体协作问题，分析了目前在RoboCup中的几个典型多智能体协作模型，提出一种三层的Multi—Agent层次协作模型，它包括全局层、局部层和个体层。并通过实验证明该模型是合理的、有效的。     

群智能算法应用于MAS系统协作的探讨

多智能体系统(MAS)理论是目前人工智能领域的热点问题之一,群智能算法是一种并行式问题求解方法.就如何将群智能方法引入MAS研究中进行了探讨.首先对MAS理论的研究现状和发展趋势进行调研,综合考虑MAS中需要解决的问题和群智能算法的优点,认为两者具有结合应用的可行性.然后具体针对MAS协作方法研究中的通信瓶颈、意图解释机制、冲突消解等几类问题进行重点讨论和分析,就如何应用群智能算法进行了探讨,提出了初步的解决要点.     

多智能体协作方法及其应用研究

将复杂系统分解成由多个智能体构成的合作多智能体系统，建立了多智能体系统的决策模型，能动态实时地计算每一时刻智能体的决策局势，适应环境的动态变化．采用多智能体方法对半导体生产进行调度，提高了半导体生产线设备的利用率，缩短了单位工件的加工时间．     

Multi-Agent层次协作模型在RoboCup中的应用

RoboCup是多Agent系统研究的一个很好的平台。建立一支成功的机器人足球队需要很多领域的知识,合理的模型结构和Agent之间的协调与协作是RoboCup比赛中赢球的关键所在,协调与协作是多Agent系统研究的重要课题。针对RoboCup仿真比赛的多智能体协作问题,分析了目前在RoboCup中的几个典型多智能体协作模型,提出一种三层的Multi-Agent层次协作模型,它包括全局层、局部层和个体层。并通过实验证明该模型是合理的、有效的。     

基于领域知识的多智能体分层协作规划方法

针对复杂动态RoboCup仿真环境下的多智能体协作问题,提出一种使用领域知识的多智能体分层协作规划方法。在根据系统提供的环境状态信息建立智能体初始行为规划的基础上,通过逐步填入智能体的状态和行为特征属性知识,分析行动实现的效果,对初始规划行动进行调整,为智能体制定协调一致的行为规划序列,并获得相应的协作策略信息,使其在实际对抗比赛中能针对当前环境快速做出决策,实现通信受限的情况下多智能体的协作。     

基于MAS(Multi Agent System)的多机器人系统：协作多机器人学发展的一个重要方向

机器人的应用方式正在由部件式单元应用向系统式应用方向发展．这是实际应用的需 要,也是技术发展的必然趋势;相关技术如计算机网络技术的发展也为它的实现提供了相应 支持．多机器人协作理论问题必然也已经成为机器人学研究的一个热点,其中,分布式人工 智能（DAI）中的多智能体（代理）系统（MAS：Multi-agent System）理论已引起多机器 人 协作理论研究者的关注．本文即在揭示协作多机器人系统与MAS的内在联系的基础上,指出 基于MAS的协作多机器人系统是协作多机器人学发展的一个重要方向．     

基于相对位置信息的多智能体系统自适应跟踪控制

针对带有动态领导者的多智能体系统,为了使其达到跟踪一致性,设计只依赖于相对位置信息的自适应跟踪控制律.根据接收到的相对位置信息为每个跟随者设计动态输出反馈控制律,并根据控制律估计出智能体之间的相对速度信息.在此基础上设计自适应跟踪控制律,并且通过Lyapunov 稳定性理论和矩阵理论分析得到使系统达到跟踪一致性的充分条件.最后通过数值仿真验证了所提出的设计方法的有效性.     

基于MAS的专家系统开发工具

结合分布式人工智能理论和面向对象及面向智能体技术，给出基于MAS（Multi0agent System)的专家系统开发工具的系统结构和设计，并描述了系统中的知识通信语言和协作机制。采用Java语言，在分布式网络环境下，实现了该工具的原型系统。用该工具开发了一个基于MAS的协作中医诊断专家系统，运行效果良好。     

基于语义的多代理协同数据库平台

提出了协同数据库平台CDP的体系结构、模型和实现。该平台可支持协同活动和管理多数据源。讨论了包括应用、支持和数据库的3层多Agent体系结构，基于语义的Agent模型以及语义联系的实现，从而屏蔽了异步和同步工作方式。协同用户通过应用语义来进行协同操作和信息共享。     

Robust Consensus Tracking Control of Uncertain Multi-Agent Systems With Local Disturbance Rejection

In this paper, a new distributed consensus tracking protocol incorporating local disturbance rejection is devised for a multi-agent system with heterogeneous dynamic uncertainties and disturbances over a directed graph. It is of two-degree-of-freedom nature. Specifically, a robust distributed controller is designed for consensus tracking, while a local disturbance estimator is designed for each agent without requiring the input channel information of disturbances. The condition for asymptotic di...     

Order-Preserved Preset-Time Cooperative Control: A Monotone System-Based Approach

This paper is concerned with order-preserved preset-time cooperative control of multi-agent systems with directed graphs. A novel monotone system-based approach is proposed to preserve the initial order of agents while guaranteeing the preset-time state agreement. Specifically, three different distributed controllers together with sufficient conditions are designed to realize leaderless consensus, leader-following consensus, and containment control, respectively. The proposed controllers facilitate preset-time deployment of agents in practical scenarios with collision avoidance requirement. Comparison studies through a numerical example are carried out to illustrate the effectiveness of the proposed controllers.      

Disturbance decoupling of switched linear systems

In this paper, we consider disturbance decoupling problems for switched linear systems. We will provide necessary and sufficient conditions for three different versions of disturbance decoupling, which differ based on which signals are considered to be the disturbance. In the first version, the exogenous input is considered as the disturbance, in the second, the switching signal and in the third both of them are considered as disturbances. All three versions of disturbance decoupling have direct counterparts for linear parameter-varying (LPV) systems, while the latter instance of the problem is relevant for disturbance decoupling of piecewise linear systems, as we will show. The solutions of the three disturbance decoupling problems will be based on geometric control theory for switched linear systems and will entail both mode-dependent and mode-independent static state feedback.     

基于扰动观测器的机器人自适应神经网络跟踪控制研究

为解决机器人动力学模型未知问题并提升系统鲁棒性,本文基于扰动观测器,考虑动力学模型未知的情况,设计了一种自适应神经网络（Neural network,NN）跟踪控制器.首先分析了机器人运动学和动力学模型,针对模型已知的情况,提出了刚体机械臂通用模型跟踪控制策略;在考虑动力学模型未知的情况下,利用径向基函数（Radial basis function,RBF）神经网络设计基于全状态反馈的自适应神经网络跟踪控制器,并通过设计扰动观测器补偿系统中的未知扰动.利用李雅普诺夫理论证明所提出的控制策略可以使闭环系统误差信号半全局一致有界（Semi-globally uniformly bounded,SGUB）,并通过选择合适的增益参数可以将跟踪误差收敛到零域.仿真结果证明所提出算法的有效性并且所提出的控制器在Baxter机器人平台上得到了实验验证.     

Trajectory Tracking of Vertical Take-off and Landing Unmanned Aerial Vehicles Based on Disturbance Rejection Control

We investigate the trajectory tracking problem of vertical take-off and landing (VTOL) unmanned aerial vehicles (UAV), and propose a practical disturbance rejection control strategy. Firstly, the nonlinear error model is established completely by the modified Rodrigues parameters, while considering dynamics of the servo actuators. Then, a hierarchical control scheme is applied to design the translational and rotational controllers based on the time-scale property of each subsystem, respectively. And the linear extended state observer and auxiliary observer are used to deal with the uncertainties and saturation. At last, global stability of the closed-loop system is analyzed based on the singular perturbation theory. Simulation results show the effectiveness of the proposed control strategy.      

Tailoring Groupware: The Cooperative Hypermedia Approach

Tailoring groupware has to deal with adapting properties of a shared information space as well as with adapting properties of the cooperation support to the group's needs. In this paper, an approach for tailoring both aspects of groupware in an integrated fashion is proposed. This approach uses cooperative hypermedia as a unifying representation of shared information structures, functionality, and the coordination medium of a shared application. It enables cooperative definition of shared information structures, shared process models and their access models not only before collaboration starts, but also on the fly, when emergent processes evolve. The proposed approach addresses tailoring at all stages of the development and use of a groupware application. A prototype system called CHIPS is presented and different possibilities of tailoring in CHIPS are discussed. Examples of CHIPS demonstrate that the cooperative hypermedia approach to tailoring groupware can support the adaptation to different evolving tasks and processes performed by changing teams.     

基于合作博弈的数据中心骨干网带宽分配策略

数据中心(data center, DC)之间通过部署流量工程来提高连接各个数据中心骨干网的利用率,虽然效率提升显著,但对不同类型汇聚流的带宽分配的公平性没有考虑.将多个汇聚流对带宽分配的竞争行为建模为一个合作博弈,通过寻求此博弈的纳什谈判解(Nash bargaining solution, NBS)来确定优化的带宽分配策略CGBA(cooperation game based bandwidth allocation),权衡各汇聚流的最小带宽保证与带宽分配的公平性.在Mininet平台上进行实验仿真并和典型的带宽分配策略对比,结果表明CGBA不但可保证各汇聚流的最小带宽需求,还确保了各类流对带宽资源竞争的公平性.     

Output Regulation and Active Disturbance Rejection Control: Unified Formulation and Comparison

Output regulation theory aims to design a controller for achieving reference tracking and disturbance rejection while maintaining system stability. Different from the stabilization problem about an equilibrium point, the output regulation problem is capable of characterizing more complicated steady‐state trajectories induced by reference and/or disturbance. Many efforts have been made to reveal how a steady‐state trajectory can be characterized, estimated, and hence compensated by a controller such that output regulation can be asymptotically achieved. When the steady‐state trajectory is approximately treated as a constant “quantity”, the standard output regulation implies an approximate version within which output regulation is practically achieved. It is revealed in this paper that such an approximate version of output regulation includes the later developed active disturbance rejection control (ADRC) method as a special case.     

基于BMI方法的线性系统的关联稳定与协调控制

本文研究了线性大系统的关联稳定与协调控制问题. 基于双线性矩阵不等式, 给出了两个子系统关联稳定与协调镇定的充分与必要条件. 结论表明, 即使子系统不稳定, 组成的大系统也易能被协调镇定, 而不需要假定子系统的稳定. 其次, 协调控制器的设计问题转化为 BMI 约束下的优化问题, 为求解此问题, 提出了优化交替算法, 并给出了此算法收敛性的简单证明. 最后, 数值算例表明了优化算法的有效性.