15836

14139

كارشناسي ارشد

كنترل

اصفهان : دانشگاه صنعتي اصفهان

1399

يازده ،82ص: مصور، جدول، نمودار

فريد شيخ الاسلام، مجدالدين نجفي

جعفر قيصري، مرضيه كمالي

1399/07/21

كتابنامه

برق

مهندسي برق و كامپيوتر

1399/07/21

2642327

A PSO Fuzzy method for Multi agent system formation in presence of agents interactions Armin Jafari 2020 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi Supervisor Professor Farid Sheikholeslam sheikh@cc iut ac ir Supervisor Assistant professor Majdeddin Najafi majdnajafi@cc iut ac irAbstract In this thesis the consensus and formation problems of the multi agent systems is investigated in presence of another in teraction differ from communication links among the agents that can be named as physical interaction or physical coupling physical interaction between the agents usually occurs in the cases such as coordination collaboration and cooperative inthe multi agent systems tasks this physical interaction or physical coupling usually have adverse and negative impact onthe consensus and accurate formation of the system communication links and physcial couplings between the agents of themulti agent system are modeled by two distinct grpah layers named communication graph and physical coupling graph which may create similar or completely dissimilar physical and communication neighborhoods here we intent to eliminatethe adverse impacts of the physical coupling by using a fuzzy compensator in the multi agent structure so that the group ofagents be able to organize the desired formation without error then by implemanting the proposed structure for eliminate theadverse impacts of the physical coupling on a quadrator multi agent system and locating the fuzzy compensator in the loopthat added to the formation control eliminate the physical coupling and provide formation for the system also to achievingappropriate and proper formation and to decrease formation time of the system with nonlinear or not considered dynamicssuch as quadrator system we use particle swarm optimization algorithm to optimize or tune the compensator outputs andformation control coefficients Keywords 1 Multi agent system 2 intelligent control 3 physcial coupling 4 formation 5 con sensus 6 graph

فريد شيخ الاسلام، مجدالدين نجفي

جعفر قيصري، مرضيه كمالي