网络环境下船舶编队的分布式自适应控制

项目名称： 网络环境下船舶编队的分布式自适应控制

项目编号： No.61273137

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： 王丹

作者单位： 大连海事大学

项目金额： 78万元

中文摘要： 在课题组船舶编队控制研究的基础之上，充分发挥申请人在自适应控制解决非线性不确定系统控制问题方面所具有的技术优势，针对船舶个体非线性动力特性与网络拓扑特性之间的关系，将船舶运动的个体控制与网络环境下分布式群体控制相结合，重点研究含不确定动态的网络化船舶编队控制机理与分布式协调控制方法。以多智能体系统分布式控制、自适应神经网络控制和动态面控制为主要技术手段，综合应用图论、矩阵理论、奇异值分析、李亚普诺夫稳定性理论进行控制器设计与稳定性分析。目的在于探索基于多智能技术的网络化船舶编队控制原理，建立含不确定动态的网络化船舶编队控制框架，解决网络环境下船舶编队的分布式自适应控制问题。其理论意义和实际意义在于：理论上进一步丰富网络非线性多智能体系统的控制方法；应用上为利用多船舶编队进行海洋资源探测、环境监测、远洋补给、编队搜索救援提供控制理论基础。编队控制器的简捷、高效、鲁棒是课题研究的宗旨

中文关键词： 编队控制；水面船舶；分布式控制；自适应控制；神经网络

英文摘要： Based on the team's previous research on formation control of marine surface vehicles (MSVs) and the applicants' advanced research work in adaptive control for uncertain nonlinear systems, considering the relationship between the nonlinear dynamics of the MSV and topological characteristics of a network, this project aims to uncover the mechanisms of formation control of networked MSVs with uncertain dynamics and develop distributed coordinated control methods, in combination with individual control of single vehicle and distributed control of the group in a network environment. Drawing lessons from the distributed control methods of multi-agent systems, neural network based adaptive control and dynamic surface control techniques, this research will focus on the formation controller design methods and stability analysis with the aid of graph theory, matrix theory, singularity analysis and Lyapunov stability analysis. The objective of this research is to clarify the principles for formation control of networked MSVs based on multi-agent control techniques, establish a formation control framework for networked MSVs with uncertain dynamics, and solve the distributed adaptive formation control problem of networked MSVs. From a theoretical and practical standpoint, this research will enrich the control methods of net

英文关键词： Formation Control；Marine Surface Vehicles；Distributed Control；Adaptive Control；Neural Networks