复杂动态网络的合作控制
Cooperative
Control of Complex Dynamic Networks
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问题描述 Problem Description
在过去的二十年中，网络和分布式计算的迅猛发展造就了从大型集成电路计算机到分布式网络工作站的一个跃变。在工业应用中，我们期望能够应用许多价格低廉的小型设备之间的相互协调合作来替代原来造价昂贵，设计复杂的大型集成电路设备。多智能体网络的分布式协调合作控制问题近年来引起了越来越多学者的关注，这主要归因于多智能体系统在各行各业的广泛应用，这其中包括无人驾驶飞行器的合作控制(UAVS), 形成控制(formation control), flocking, 群集(swarming), 分布式传感器网络(distributed
sensor networks)，卫星的姿态控制(attitude alignment of clusters of satellites), 以及通讯网络当中的拥塞控制(congestion
control).
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典型例子 Typical Examples
¨
Flocking
在一个多智能体系统中，所有的智能体最终能够达到速度矢量相等，相互间的距离稳定，我们称为Flocking问题。Flocking算法最早是由Reynolds在1986年提出。当时为了在计算中模拟Flocking，他提出了三条基本法则: (1) separation;(2)
cohesion;(3) alignment。Vicsek于1995年提出并研究了Reynolds模型的一个简化模型。在它的模型中，所有的主体保持相同的速度运行，这个仅仅体现了Reynolds算法中的alignment。近年来，许多控制学者也在研究Flocking问题，他们通过构建微分方程组将Flocking问题进行抽象化，利用人工势能结合速度一致(consensus)的方法来实现Flocking算法。
¨
Swarming
群集(swarm)是一个由大量自治个体组成的集合，在无集中式控制和全局模型的情况下，一般通过个体的局部感知作用和相应的反应行为，使整体呈现出涌现行为。群集具有个体自治、非集中式(decentralized)控制、局部信息作用(local interaction)等特征。
在自然界中，群集无处不在，在几乎所有的尺度上，从非生命世界的分子到星系，从生物界的简单的细菌到高等动物，普遍存在着群集现象和群集行为。
研究群集系统具有实际意义，它是理解生物复杂性的一个途径，一方面，可以借鉴生物的智慧，把分布式策略用在自治多代理系统（如多机器人或自治飞行器系统）的控制、协调以及编队控制中。这些系统的共同特点是：无集中式控制、无全局通讯、个体自治。通过设计一定的控制律，可以使系统整体呈现出所期望的涌现行为。另一方面，群集有可能来解释群集智能(swarming intelligence)的产生，每一个个体并不是非常智慧的主体，但它们之间通过协作却可以展现出一定的智能行为。
群集是一个分布式协作系统，具有鲁棒性和自组织的特征，群集系统是基于局部优化的系统，在效率和鲁棒性方面可能要比传统的集中式控制更有优势，因而具有工程上潜在的应用价值，特别是大尺度上的行为对局部失效和故障不敏感，这是集中式控制所没有的特征。
¨
Consensus (Agreement)
在一个多智能体系统中，所有的智能体最终状态能够趋于一致，我们称为一致性问题。一致性问题的出现主要源于合作控制问题. 对于多智能体系统的合作控制问题, 智能体之间共享信息是保证合作的一个前提条件, 共享信息可以以多种形式出现, 比如说一个共同的目标, 一种共同的控制算法, 相对的位置信息, 或者是一张世界地图. 当一组智能体要合作共同去完成一项任务, 合作控制策略的有效性表现在, 多智能体必须能够应对各种不可预知的形势和环境的改变, 这就要求智能体随着环境的改变能够达到一致. 因此, 多智能体达到一致是实现协调合作控制的一个首要条件.
¨
Rendezvous
一群移动的智能体最后能够在某一点聚集，我们称为聚集问题。聚集问题的发展源于机器人应用的发展，比如说，一群机器人要合作完成一个任务，到达一个共同的地点，在一片未知的地方进行搜救工作，或者一群无人驾驶飞机要达到一个共同地点等。
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Ø
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相关软件 Related Software
（1）麻省理工大学开发的Starlogo
（2）美国圣塔菲研究所开发的Swarm
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相关链接 Related Links
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Suzuki
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我们的研究 Our Researches
（在介绍研究内容后列出已发表或录用的文章）
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Flocking
Flocking问题主要应用于电脑游戏、电影特技、机器人和无人军用飞机等研究领域，目前我们做的相关工作是研究Reynolds经典的Boids模型、复杂动态网络中的Flocking算法和其中的一些性质。
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Swarming
目前关于Swarming相关方面的工作是，尝试把群集研究和复杂网络结合起来，探索群集的网络拓扑的关系，提高群集的性能，群集的控制和稳定性等。
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Consensus
一致性问题在计算机科学中的应用已经有很长的历史了，目前我们的主要工作是研究复杂动态网络中的一致性问题，比如一致性与网络拓扑结构关系的研究，分析网络的连通性和一致性问题之间的关系，研究基于Kalman滤波器的一致性协议，并将其应用于加权网络的一致性问题中。
Wen Yang, Xiao-Fan Wang, Consensus Problems in Networks of Multi-Agents, Second National Forum on Complex Dynamical Networks, 2005: 147-156.
摘要：近年来，由于多智能体系统的广泛应用，一致性问题受到越来越多研究者的关注。本文主要回顾了目前多智能体合作控制中一致性问题的相关基本概念、一些重要结论，系统地介绍了一致性问题的研究现状,总结了离散时间、连续时间以及带有延时的一致性协议，重点分析了在固定拓扑和切换拓扑下的一致性收敛问题，在此基础上分析了一致性研究中尚待解决的问题和一些新的研究方向。
Abstract: In the past years, the
broad applications of multi-agent systems in many areas have stimulated a great
deal of interest in studying consensus or agreement problems. The present
article reviews some basic concepts, recent progress, and instrumental results
in the current studies of consensus problems in multi-agent cooperative
control. The continuous-time and discrete-time consensus protocols are
summarized with zero or nonzero time-delays. Theoretical results regarding
consensus problems are described, with emphasis on the convergence analysis of
consensus problems under both a fixed and switching information exchange
topology. Finally, future research directions are also proposed.
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Rendezvous
聚集问题主要应用于机器人研究领域，比如说群机器人的搜索，紧急救援等。目前我们做的相关工作是研究复杂动态网络中的聚集问题，网络搜索等。