基于平均理论的高阶线性多智能体系统趋同控制问题研究

项目名称： 基于平均理论的高阶线性多智能体系统趋同控制问题研究

项目编号： No.61304161

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 倪伟

作者单位： 南昌大学

项目金额： 22万元

中文摘要： 近年来，高阶线性多智能体系统的趋同控制引起了国内外学者极大的关注。目前这方面的研究主要集中在固定拓扑下的趋同控制，切换拓扑下的结论相对较少。平均理论作为天体力学和系统科学中研究时变系统稳定性的常用工具，最近被应用到切换拓扑下的多智能体系统趋同控制理论中。这方面的工作刚刚起步，有许多理论和应用方面的难题亟需解决。本项目应用平均理论研究切换拓扑下的高阶线性多智能体系统的趋同控制问题，具体包括：(1)研究切换拓扑下的线性多智能体系统的趋同能控性和趋同能观性，推广现有文献中固定拓扑下的趋同能控性和趋同能观性工作。讨论趋同能控性和趋同能观性之间的对偶原则。(2)在趋同能控性和趋同能观性的基础上，研究状态耦合型和输出耦合型趋同算法，放宽了现有文献中对节点线性系统中性稳定的假设，而只要求其能控能观。(3)发展基于分布式观测器的趋同控制理论，研究分布式观测器理论之分离性原理。

中文关键词： 多智能体系统；趋同；分布式控制；平均理论；切换拓扑

英文摘要： Recently, consensus of high-order linear multi-agent systems has received much attention by many researchers. Current focus on this problem mainly puts emphasis on dealing with fixed network topology, with relatively few attention on the case of switching one. The averaging theory, which was initially proposed in celestial mechanics and was further developed in systems science, is a fundamental tool to investigate the stability of time-varying systems. Currently, the application of averaging theory to the field of consensus control of multi-agent systems under switching topology has just started, and there are many important issues to be solved. In this project, we provide some averaging-based consensus control algorithms for high-order liner multi-agent systems under switching topology. The following issues will be addressed. (1)The consensus controllability and observability of linear multi-agent systems under switching topoloty are examined, generalizing existing results which are limit to fixed topology. Furthemore, the dual principle betwee consensus controllability and consensus observability is explored. (2)Based on the consensus controllability and observability, the consensus control algorithms, which characterize the state couplings or output couplings among agents, are proposed by the tool of averagi

英文关键词： Multi-agent systems；consensus；distributed control；averaging theory；switching topology