高阶非线性多智能体系统的有限时间协调控制研究

项目名称： 高阶非线性多智能体系统的有限时间协调控制研究

项目编号： No.61304007

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 都海波

作者单位： 合肥工业大学

项目金额： 24万元

中文摘要： 本项目针对非线性多智能体系统控制领域的若干瓶颈问题（如仅局部信息可用、收敛速度的局限性和干扰的影响等），从提高系统收敛速度角度，拟提出分布式有限时间协调控制方法，从提高系统抗扰动性能角度，拟提出干扰精确估计和补偿控制方法，两种控制方法结合最终得到分布式有限时间主动抗干扰协调控制方案，为实际系统的高精度控制提供理论方法和技术支撑。具体研究内容包括：1）一类高阶非线性多智能体系统的分布式有限时间协调控制；2）一类高阶受扰非线性多智能体系统的分布式有限时间主动抗干扰控制；3）带挠性附件多空间飞行器姿态系统的分布式有限时间姿态协调控制；4）链式结构非完整约束多移动机器人系统的分布式有限时间协调编队控制。

中文关键词： 有限时间控制；非线性控制；多智能体系统；协调控制；

英文摘要： This research proposal will focus on proposing some methods to solve the key problems in the control literature of nonlinear multi-agent systems, e.g. only local information is available, convergent rate is limited, and the effect of disturbance, etc. To this end, from the viewpoint of increasing the convergence, a distributed finite-time cooperative control method will be proposed. From the viewpoint of improving disturbance rejection property, a disturbance's precise estimate and compensation control method will be then given. Finally, a distributed finite-time disturbance active control will be developed by combining these two methods, which will offer a theoretic and technical support for high precise control in practice. The detailed research contents are summarized as follows: 1) distributed finite-time cooperative control for a class of multi-agent systems with high-order nonlinear dynamics,2) distributed finite-time disturbance active cooperative control for a class of multi-agent systems with high-order nonlinear dynamics subject to disturbance, 3) distributed finite-time attitude cooperative control for a group of flexible spacecraft, 4) distributed finite-time cooperative formation control for a group of nonholonomic mobile robots with chained structure.

英文关键词： Finite-time control；Nonlinear control；Multi-agent system；Cooperative control；