负虚系统网络一致性算法及应用研究

项目名称： 负虚系统网络一致性算法及应用研究

项目编号： No.61503025

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 自动化技术、计算机技术

项目作者： 王佳楠

作者单位： 北京理工大学

项目金额： 18万元

中文摘要： 负虚系统是指频域响应在负虚平面以内的一类系统，它作为一种新兴有效描述挠性结构的技术，自从被发现开始就得到了广泛的关注。本课题在多挠性结构对接问题的大背景下，探索多负虚系统一致性算法以及具有实际意义的一系列应用，例如阵形控制、协同追踪等，从而为解决这一系列问题提供技术可行性。本课题主要研究内容包括：（1）负虚系统网络建模研究，采用拓扑学中知识对多维网络系统建模；（2）负虚系统网络的输出一致性问题，考虑同构或异构系统情况下，采用负虚相位系统理论探索一致性问题充要条件并给出收敛域；（3）考虑存在模型不确定性以及外部干扰情况下的鲁棒协同问题，例如鲁棒阵形控制、鲁棒协同追踪等。本课题旨在探索科学前沿问题，即挠性结构控制中的多挠性结构协同控制问题，不仅丰富协同控制领域研究并且考虑实际系统中的鲁棒问题，为实际系统设计提供理论依据，具有重要的意义和应用价值。

中文关键词： 协调控制；一致性控制；编队控制；跟踪控制；分布式控制

英文摘要： Negative imaginary systems is a class of systems with a negative imaginary frequency response. It has received extensive attention since it was presented because it was regarded as an effective method to model the flexible structure. This project is primarily to investigate consensus algorithms of networked negative imaginary systems and its practical applications, such as formation control and cooperative tracking, which provide the feasibility of solving the challenging problems, multiple flexible structure docking. The major contributions of this project include: (1) modeling the multi-dimensional networked negative imaginary systems by the use of topological knowledge; (2) the output consensus of networked negative imaginary systems in the case of both homogeneous and heterogeneous systems as well as sufficient and necessary conditions to guarantee the consensus using negative imaginary systems theory; (3) the robust cooperative control under model uncertainty and external disturbances, such as robust formation control and robust cooperative tracking, etc. This ultimate goal of this project is to explore the frontiers of science, which is cooperative control of multiple flexible structure. It not only broadens the research area of cooperative control, but considers the robustness problem in practical systems, providing theoretical criterions for designing the real systems and thus is vital in applications.

英文关键词： Cooperative Control;Consensus;Formation Control;Cooperative Tracking;Distributed Control