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標題: | 以飽和輸入控制之多代理人系統動態調控 Dynamic Maneuver Control of Multi-Agent System with Input Saturation |
作者: | Yu-Wen Chen 陳昱文 |
指導教授: | 傅立成 |
關鍵字: | 編隊控制,多代理人系統,動態編隊,飽和輸入,自然追蹤軌跡,有序性旋轉編隊, Maneuver control,Multi-Agent System (MAS),dynamic formation,input saturation,natural tracking,ordered rotating, |
出版年 : | 2019 |
學位: | 碩士 |
摘要: | 本論文旨在研究多代理人系統 (MAS) 的編隊調控,近年來其因應 用之普及,如:物體承載、海洋探勘及無人機偵查等而備受關注。以 下我們枚舉本論文之部分目標。首先,我們的目標是設計各式調動 控制以達成各種任務,包括軌跡追蹤、隊形旋轉,及更重要的線上調 整。線上適應意味著可動態調整編隊,此為至關重要的問題,因其可 防止於動態或未知之環境中產生碰撞。此外,我們還考慮了非完全運 動約束、通信限制及輸入飽和,這ㄧ方面大幅提高了控制器設計之難 度,卻也是對於將控制器付諸實踐不可或缺的。同時,我們採用本地 參考座標 (local reference frame) 來取代一般研究所需之全域參考座標 (global refernce frame) 以提高通訊品質 (QoS)。其次,我們提出新穎設 計使其能掌控 MAS 於軌跡循跡時之隊形方位,並提出了比現有結果 更自然的軌跡循跡運動。再者,我們設計了“相位償罰流交換機制” 以處理旋轉編隊中的順序問題而無需有所限制或假設;相對來說,現 有研究結果通常需要各式條件以解決順序問題。最後,我們提供一些 模擬場景與模擬結果以驗證理論推導。 This thesis considers maneuver control of Multi-Agent System (MAS), which has drawn significant attention recently for its wide applications, such as object carrying, ocean exploring, and UAV scouting. The main objectives of this thesis are listed as follows. First of all, we aim to design general ma- neuver control law to support various tasks, including tracking, rotating, and especially, online adaptation. Online adaptation means that the formation can be dynamically adjusted, which is a crucial issue for preventing colli- sions in dynamic or unknown environments. Moreover, we take nonholo- nomic, communication, and input saturation constraints into account, which dramatically raise the difficulty of design but are crucial to put the design in practice. Meanwhile, we relax the requirement of global reference frame in- formation for communication. Alternatively, local reference frame is adopted to enhance the quality of service. Furthermore, the orientation of MAS while tracking is designed in our novel method, and particularly, a more natural tracking movement than existing results is proposed. In addition, we devise a “phase penalty flow exchange mechanism” to deal with the issue of order in rotating formation without additional restrictions or assumptions, while ex- isting results usually require various conditions to achieve it. Finally, several simulation scenarios are provided to validate our results. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/7242 |
DOI: | 10.6342/NTU201902617 |
全文授權: | 同意授權(全球公開) |
顯示於系所單位: | 電機工程學系 |
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