Time Delay Conservative Reduction Of Multi-agent Cooperative Control And Ship Application

Nowadays,the society is moving towards the direction of intelligence and wisdom.With the rapid growth of science and technology,the problems in various fields are becoming more and more complicated and diversified.By organizing multiple agents to coordinate,some large and complex problems can be completed together.For multi-agent systems,due to the advantages of network group cooperation,more and more agents use the network for information transmission.However,due to the long-distance and the influence of some uncertain factors in the process of data transmission,the time delay phenomenon inevitably occurs.Moreover,due to the disturbance of time delay in the actual engineering,the actual control method is limited by the allowable maximum upper bound of time delay,so the less conservative multi-agent method with time delay has attracted the attention of many scholars.In this thesis,an in-depth research and exploration on the research on reducing time delay conservative in multi-agent cooperative control has been conducted.The main work can be stated as below:First,in order to reduce the time delay conservatism in cooperative control of multi-agent system,under the framework of multi-agent consensus theory,this thesis constructs an appropriate Lyapunov-Krasovskii function by using the dynamic delay interval method,and applies the Wirtinger type integral inequality to the consensus analysis,which not only achieves the consensus goal of the multi-agent system,but also obtains the lower time delay conservative condition,and relaxes the limit of the upper and lower bounds of time delay.Moreover,this method overcomes the over conservative problem of time delay in traditional network communication.Then,the theoretical results are applied to the problem of time delay conservative in ship clusters.The fixed time delay interval is extended to the dynamic time delay interval,which reduces the conservative of the system and obtains the stability standard.The validity of this method is verified by numerical simulation on Matlab platform.Finally,the work of this thesis is summarized,and several key problems that need to be further solved in the research of time delay multi-agent cooperative control are analyzed and explained.