多维时滞非线性协议下的多智能体系统一致性及协调控制

项目名称： 多维时滞非线性协议下的多智能体系统一致性及协调控制

项目编号： No.61203046

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 自动化学科

项目作者： 刘振伟

作者单位： 东北大学

项目金额： 24万元

中文摘要： 本项目旨在研究包含多维不同时滞非线性协议的多智能体系统的一致性和协调控制问题。建立一种以时滞个数为维数的空间映射方法，将当前研究的时滞非线性协议多智能体系统进行非线性空间映射变换，解决对于此类系统集体化表示和处理的难题，建立一个存在通信时滞情况下保证智能体之间资源共享的一致性理论,并给出在各个智能体自主决策之上的可以使各个智能体能够协同工作的控制方案，为时滞非线性协议多智能体系统的协调控制开辟一条新的途径。主要研究内容包括：1）基于智能体之间的多维时滞和非线性协议之间的构成关系，提出空间映射方法对多维时滞的状态变量进行空间映射变换；2）结合系统集体状态和基于空间映射方法获得的时滞集体状态组合向量，建立多智能体系统集体动态模型；3）提出一种新的向量型泛函，建立针对时滞非线性协议情况下的一致性理论；4）设计鲁棒分布式控制器，提出针对存在扰动下的多维时滞非线性协议多智能体系统的协调控制方案。

中文关键词： 多智能体系统；空间映射；一致性分析；拓扑结构；自适应优化协调

英文摘要： Consensus and coordinated control problems for multi-agent systems with nonlinear protocol including multiple delays are investigate in this project. A space mapping approach will be proposed based on the dimension of multiple delays in protocols, which is used to transform the original model of multi-agent systems to new one expressed its collective dynamics. This approach can solve the difficulties on the expression of collective dynamics and control of multi-agent systems, so that the consensus among each agent can be guaranteed under the case of existing communication delays. Thus, the control scheme cooperated with each agent can be obtained to implement the coordinated control problem for multi-agent systems with nonlinear protocol including multiple delays based on each agent's decision, which is a new method to solve the coordinated problem of multi-agent systems. The content of this project includes: 1) The space mapping approach is proposed based on the relation of delays and protocol, which can carry out the transformation from the state with delays to the vector with delay state; 2) The new collective dynamics of multi-agent systems with nonlinear protocol including multiple delays can be obtained based on the obtained the vector with delay, which is from the original model of multi-agent systems; 3)

英文关键词： Multi-agent system；space mapping；consensus analysis；topological structure；adaptive optimal cooperation