线性多智能体系统的群一致跟踪控制理论研究

项目名称： 线性多智能体系统的群一致跟踪控制理论研究

项目编号： No.61473337

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 自动化技术、计算机技术

项目作者： 谢冬梅

作者单位： 天津大学

项目金额： 60万元

中文摘要： 多智能体系统的一致跟踪问题是一致性问题中的一个重要研究分支，因其在卫星编队、传感器网络等领域有重要应用前景，引起了国内外学者的广泛研究。而在实际工程系统中，多智能体系统中的个体基于物理特性或者任务分配可能会分成不同的群,每个群中的跟随者都跟踪同一群中的领航者。因此，我们有必要研究群一致跟踪控制问题。与一致跟踪问题相比，群一致跟踪控制的研究将更能揭示多智能体系统网络的复杂性和更符合工程实际。 本课题拟围绕连接拓扑变化、时延、采样、噪声和干扰等问题，研究一阶/二阶积分系统和高阶系统的群一致跟踪控制问题, 具体研究内容包括建立一套规范的建模理论和方法；围绕着群一致跟踪问题的可解性、群一致跟踪的条件和群一致跟踪协议设计建立群一致跟踪控制理论；解决系统参数、时延、采样周期的计算和优化问题；群一致性跟踪控制理论在机器人仿真系统中的验证。最终，形成一套完整的多智能体系统群跟踪控制理论体。

中文关键词： 多智能体系统；切换系统；时滞系统；鲁棒控制；稳定性

英文摘要： Consensus tracking problem of multi-agent systems is an important research branch of the consensus problem. Due to its potential applications in spacecraft formation flying and sensor networks and so on, consensus tracking issue has been extensively studied by domestic and foreign scholars in recent years. However, in practical engineering system, according to the physical characteristics of the individual or task assigned，agents in a multi-agent system may be divided into different groups, and followers in each group need to track the leader in the same group. Compared with the consensus tracking problem, research on group consensus tracking control will be more likely to reveal the complexity of multi-agent system network and more accords with the engineering practice. This paper will focus on the group consensus tracking issue of first/second order integral system and high order systems with topology change, delay, sampling, noise and disturbance and so on. The specific research contents include: establish a standard modeling theory and method; establish the group consensus tracking control theory by solving the following problems: the group consensus tracking condition, the group consentability tracking and the protocol design; solve the computation and optimization problems of system parameters, delay, sampling period etc; verify the established group consensus tracking control theory in robot simulation system. Finally, we form a complete set of group tracking control theory on multi-agent systems.

英文关键词： Multi-agent systems;switched systems;time-delay systems;robust control;stability