基于切换方法的网络化系统分布式事件触发控制研究

项目名称： 基于切换方法的网络化系统分布式事件触发控制研究

项目编号： No.61473055

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： 王东

作者单位： 大连理工大学

项目金额： 80万元

中文摘要： 由于网络化系统分布式事件触发控制具有资源利用率高、设计灵活和容错性强等优点，其研究具有重要的理论意义和应用价值。然而，非线性耦合、事件触发机制和网络拓扑结构变化等并存，给此类系统的分析和综合带来极大挑战。项目针对具有耦合的网络化系统分布式事件触发控制展开研究：（1）建立混杂时滞系统模型，表征耦合的连续动态、事件触发的离散动态和变拓扑等特性；（2）融合类Lyapunov函数、小增益定理和图论，给出固定拓扑结构下稳定性分析以及分布式控制器和触发条件联合设计方案；（3）采用切换系统多Lyapunov函数和状态空间划分法，实现变拓扑结构下分布式控制器和事件触发条件联合设计；（4）构建网络化多轮式机器人分布式事件触发控制实验平台，检验提出方法的可应用性。项目揭示事件触发条件、控制器设计和变拓扑结构之间的内在联系，为网络化系统分布式控制器和事件触发条件联合设计提供有效方法，为其实际应用奠定基础。

中文关键词： 切换系统；多李雅普诺夫函数；网络化控制系统

英文摘要： It is of important significance in theory and application to study distributed event-triggered control of networked systems due to its advantages such as sufficient resource utilization, design flexibility, strong fault tolerance and so on. However, it is a challenging task to analyze and synthesize such systems because of the simultaneous existence of the nonlinear coupling among the subsystems, event-triggering mechanism and network topology changes. This project conducts a research on distributed event-triggered control of networked systems with nonlinear coupling: (1) A hybrid time-delay system model is proposed to characterize coupling continuous dynamics, triggered discrete events and variable topologies. (2) Under a fixed topology, a new scheme of distributed controller and event-triggering condition co-design and stability analysis is established by combining Lyapunov-like approaches, a small-gain theorem and an algebraic graph theory. (3) Under a varying topology, an approach to co-design of distributed controllers and event-triggered conditions is proposed by making use of multiple Lyapunov functions and state space partition methods in switched systems. (4) The validness and practical application of theoretical results obtained are verified by building an experiment platform for distributed event-triggered control of networked multi-wheeled robots. This project reveals the intrinsic relationship among event-triggered conditions, controller design and variable topologies, and provides an effective method to co-design distributed controllers and event-triggered conditions of networked systems and the foundation for its pratical application.

英文关键词： Switched systems;Multiple Lyapunov functions;Networked control systems