基于一致性区域的多自主体系统分布式控制研究

项目名称： 基于一致性区域的多自主体系统分布式控制研究

项目编号： No.61473005

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： 李忠奎

作者单位： 北京大学

项目金额： 81万元

中文摘要： 多自主体系统协调控制是近十年来国际系统与控制界的一个前沿研究课题。本项目拟在一致性区域框架下深入研究多自主体系统的一致性、分布式跟踪和包含控制问题。针对线性和典型非线性多自主体系统，设计基于相对状态和输出信息的完全分布式的自适应一致性控制律，讨论自适应控制律对于外部干扰的鲁棒性；对于存在范数有界不确定性的多自主体系统，提出并分析系统的鲁棒一致性区域，揭示不确定多自主体系统的鲁棒一致性与标称多自主体系统的H∞一致性的内在关联；对于具有匹配不确定性的多自主体系统，研究分布式自适应一致性控制律的设计方法；研究自主体存在不确定性和领导者具有有界控制输入情况下的分布式跟踪和包含控制问题，给出分布式控制律的设计方法；探讨相关理论结果在卫星姿态协调控制中的实际应用。经过本项目的研究，针对多自主体系统的一致性、分布式跟踪和包含控制问题，建立基于一致性区域的分布式控制律设计框架。

中文关键词： 分布式控制；协调控制；多自主体系统；一致性控制；自适应控制

英文摘要： Cooperative control of multi-agent systems has been an emerging and active research topic in the systems and control community for the last decade. This research project intends to adopt the consensus region approach to study the consensus, distributed tracking, and contaiment control problems for multi-agent systems. For general linear and typical nonlinear multi-agent systems, distributed adaptive consensus protocols based on only the relative state and output information of neighboring agents will be designed and the robustness issues of the adaptive protocols with respect to external disturbances will be discussed. For multi-agent systems with nominal linear dynamics but subject to norm-bounded uncertainties, the notion of robust consensus region will be analyzed and the relation between the robust consensus of uncertain multi-agent systems and the H∞ consensus of nominal multi-agent systems will be investigated. For multi-agent systems with nonlinear uncertaities satisfying the matching condition, how to design distributed adaptive consensus protocols will be studied. The distributed tracking and containment problems in the presence of model uncertainties and dynamic leaders with nonzero control inputs will be addressed and distributed control laws will be designed. Furthermore, the obtained theorectical results will be applied to attitude coordination problem in satellite formation flying. The objective of this project is to establish a consensus region framework to design distributed control laws for the consensus, distributed tracking and containment problems of multi-agent systems.

英文关键词： Distributed control;cooperative control;multi-agent systems;consensus;adaptive control