Cluster Behavior Of Heterogeneous Multi-agent Systems In Uncertain Cooperative Competition Networks

In this thesis,the cluster behavior of heterogeneous multi-agent systems is researched in uncertain cooperative-competitive networks.In the framework researched,uncertainty is represented by unknown non-zero parameters.Further,the uncertainty of the network which refers to fact that the agent cannot recognize its neighbor-type when it has two types of relations at the same time.In the studied model,the complexity of the environment of heterogeneous multi-agent systems is noted,and the influence of external disturbances and nonlinear internal dynamics is considered respectively.On the other hand,a solution for achieving cluster behavior of heterogeneous multi-agent systems is given through designing the distributed controllers.The specific contents are as follows:The chapter 1 mainly introduces the research background and research status of multi-agent systems cluster behavior at home and abroad.The chapter 2 mainly introduces the concept of network topology,the related definitions and related lemma.The chapter 3 mainly studies the distributed calming problem of heterogeneous multi-intelligent systems in uncertain cooperative competition networks.And this study is conducted under the condition of bounded external interference.For the uncertainty of the network,each agent characterizes by introducing an unknown non-zero parameter.Therefore,the combined influence of external disturbances and unknown non-zero parameters makes the information interaction between agents extremely complex.To achieve ordered cluster behavior,this chapter designs a Nussbamm-type distributed adaptive controller based on Nussbamm functions to suppress the adverse e?ects of external disturbances and network uncertainty.On this basis,Barbalat lemma and Lyapunov stability are used to obtain uncertainty cooperation Heterogeneous multi-agent systems in competitive networks can realize distributed stabilization solutions.In the end,two numerical simulation examples are given to verify the accuracy of the theoretical results.The chapter 4 is a further refinement of the uncertainty of the network based on the theory of Chapter 3.For the uncertainty of the network,two unknown non-zero parameters are introduced for each agent to describe.The dynamic system in this chapter is modeled by intrinsic nonlinear dynamics and velocity damping terms.However,under the common action of nonlinear intrinsic dynamics and two unknown non-zero parameters,the di?erent leads to the coexistence of multiple relationships between agents,that is,one cooperation and three kinds of competition,and it is more di cult to achieve orderly cluster behavior.Therefore,this chapter selects a new type of Nussbamm-type distributed adaptive controller,and obtains the conclusion that heterogeneous multi-agent systems can achieve binary consistency by applying Nussbamm-type distributed adaptive controller to each agent,and with the help of Barbalat’s lemma.It is further proved that the theory of distributed stabilization can be realized in the case of structural non-equilibrium.Finally,two simulation examples are given to verify the validity of the obtained conclusions.The chapter 5 summarize the full paper and look forward to future research fields.