网络化大系统分散协调控制及其在单主-多从网络化遥操作系统中的应用

项目名称： 网络化大系统分散协调控制及其在单主-多从网络化遥操作系统中的应用

项目编号： No.61273222

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 自动化技术、计算机技术

项目作者： 华长春

作者单位： 燕山大学

项目金额： 82万元

中文摘要： 关联大系统中子系统信息交互与控制都通过共享的有线/无线网络进行，网络带宽受限、信息传输延迟和随机包丢失等问题给大系统的分析与设计提出了新的挑战。本项目聚焦于研究复杂网络环境下非线性关联大系统的分散控制问题，并将结果应用于单主-多从遥操作系统的设计。首先提出关联系统的网络调度-控制协同设计策略，综合考虑网络实时可用带宽和当前子系统运行情况，在线分配子系统带宽以调度节点数据包的发送，达到大系统的整体性能提升；其次研究网络化强耦合非线性大系统的稳定性分析与分散控制问题，建立依赖于网络环境参数的稳定性标准，提出融合网络实时参数的分散控制器设计策略；研究结果进一步应用于单主-多从网络化遥操作系统的分散控制，提出主从机器人控制方法，保证系统的稳定性能，同时增强遥操作系统的透明性能。通过上述内容的研究，建立网络化关联非线性系统的基本研究框架，有望为核事故救援、空间探测等遥操作应用领域提供理论支撑。

中文关键词： 关联系统；非线性控制；遥操作；网络化控制；智能控制

英文摘要： The information exchange and control are through the shared wired/wireless network for the subsystems in the large-scale system. The limited bandwidth, network transmission delay and probable packet dropout bring some challenging issues for the analysis and design of the large-scale interconnected systems. This project focuses on the decentralized control problem of the nonlinear interconnected system under the complex network environment, and the research achievements are applied to teleoperation design with single master and multiple slavers. First, a new network schedule and control co-design scheme is proposed. The bandwidth is allocated real-time to schedule the transmission of the data packets for the subsystems based on the obtained network bandwidth and the statuses of the subsystems, and thus the control performance of the large-scale system is improved. Then, both the stability analysis problem and the control problem are investigated for the networked nonlinear interconnected systems. The stability criteria are proposed with the consideration of the network parameters, and the new decentralized control schemes are developed. Furthermore, the research results are applied to the decentralized control of networked teleoperation system with single master and multiple slavers. The novel master and slave co

英文关键词： Interconnected system；Nonlinear control；Teleoperation；Networked control；Intelligent control