受扰多智能体系统的分布式主动抗干扰协调控制研究

项目名称： 受扰多智能体系统的分布式主动抗干扰协调控制研究

项目编号： No.61503078

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： 王翔宇

作者单位： 东南大学

项目金额： 20万元

中文摘要： 多智能体系统中往往含有各种干扰，包括匹配、不匹配干扰。抗干扰性能是协调控制算法的关键性能指标，主动抗干扰控制因在该方面的明显优势，已被初步用于受扰多智能体系统的协调控制。然而，该方面研究存在诸多瓶颈，如已有方法局限于匹配受扰系统、收敛速度不够快、仅适用于全状态反馈情况等。为突破上述瓶颈，提高系统抗干扰性能和收敛速度，并拓宽主动抗干扰控制方法的适用范围，本项目将针对不匹配受扰非线性多智能体系统，展开以下几方面的研究：1) 不同结构特征不匹配受扰情况下的分布式主动抗干扰协调控制；2) 分布式有限时间主动抗干扰协调控制；3) 基于输出反馈的分布式主动抗干扰协调控制；4) 将理论成果应用于多移动机器人编队控制并完成实验验证，应用于多液压机械臂协同装配控制并完成半实物仿真验证。本项目研究将为复杂受扰非线性多智能体系统的高精度分布式协调控制提供切实可行的理论和方法，具有重要的理论和实际意义。

中文关键词： 多智能体系统；不匹配干扰；分布式协调控制；非光滑控制；主动抗干扰控制

英文摘要： Multi-agent systems are usually subject to various kinds of disturbances, including both matched and mismatched disturbances. Disturbance rejection property is one of the key indices of distributed cooperative control methods for multi-agent systems. Due to the superiorities in disturbance attenuation, active anti-disturbance control has been used for distributed cooperative control of disturbed multi-agent systems. However, research on this control problem is still on its initial stage and has several bottlenecks, e.g., the existing control methods are limited to systems with matched disturbances, the convergence rates of the closed-loop systems are not fast enough, and the existing control methods are only suitable for full state-feedback cases, etc. To improve the aforementioned bottlenecks, enhance the disturbance rejection property and speed up the convergence rates of the closed-loop systems, and enlarge the application scope of active anti-disturbance control methods, this project consists of the following research contents for nonlinear multi-agent systems with mismatched disturbances: 1) distributed active anti-disturbance cooperative control for nonlinear multi-agent systems with various mismatched disturbances; 2) distributed finite-time active anti-disturbance cooperative control for nonlinear multi-agent systems with mismatched disturbances; 3) distributed active anti-disturbance cooperative control via output feedback for nonlinear multi-agent systems with mismatched disturbances; 4) the theoretical results are applied to formation control of multi-mobile robot systems and collaborative assembly control of multi-hydraulic manipulator systems, and the proposed control algorithms will be verified on the multi-mobile robot experimental platform and the multi-hydraulic manipulator half-practicality simulation platform, respectively. The research tasks of this project will provide effective and practical theory and methods for high-precision distributed cooperative control for nonlinear systems subject to complicated disturbances, and have great theoretical and practical significance.

英文关键词： multi-agent systems;mismatched disturbances;distributed cooperative control;nonsmooth control;active anti-disturbance control