具有动态不确定性的下三角多智能体系统分布式自适应协同控制

项目名称： 具有动态不确定性的下三角多智能体系统分布式自适应协同控制

项目编号： No.61503194

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： 杨杨

作者单位： 南京邮电大学

项目金额： 20万元

中文摘要： 项目主要研究具有动态不确定性的下三角多智能体系统的协同控制问题。综合考虑复杂网络通信环境，结合事件触发机制、非线性自适应控制技术，探索解决一大类典型的非线性多智能体系统的协同控制方法。首先，在智能体状态可测/不可测的情况下，利用局部信息，讨论纯连续策略下状态反馈/输出反馈分布式自适应协同控制问题；其次，为减轻网络数据传输压力，建立基于事件触发机制的分布式信息交互方式，讨论控制器参数和触发条件参数关系，设计触发机制下的分布式自适应协同控制律；最后，为保证网络通信可靠性，讨论分布式故障诊断与容错控制器的设计，选择合适的性能指标，解决多目标优化问题，同时尽可能使得控制律结构简捷。基于上述工作，将初步形成不确定下三角多智能体系统控制方法体系，为机器人协同工作、远洋舰船编队等工程问题提供理论支撑。

中文关键词： 非线性系统；协同控制；自适应控制；事件触发机制

英文摘要： This project is concerned with the distributed cooperative control problem for multi-agent systems in lower-triangular form with uncertain dynamics. Considering complex network communication environment, we will be dedicated to developing cooperative control approaches for a class of typical nonlinear multi-agent systems combining with event-triggered mechanism and nonlinear adaptive control techniques. Firstly, state feedback/output feedback distributed cooperative control continuous strategies will be proposed via measurable/immeasurable local information of the agents. In additional, distributed information exchanging mode will be established based on event-triggered scheme to reduce network communication pressure. Further, we shall discuss the relationship between parameters of the controller and the proposed trigger, and then a distributed cooperative control law will be presented based on the designed event-triggered scheme. Last but not the least, a distributed fault detection and fault tolerant controller will be under discussion and appropriate choice of performance index, together with the analysis of multi objective optimization methods and more concise control laws, will be studied. In this project, a novel theoretical framework for uncertain multi-agent systems in lower-triangular form will be established. It is expected that this work could provide theoretical foundation for coordinated mobiles, ocean vehicles formation etc.

英文关键词： Nonlinear Systems;Cooperative Control;Adaptive Control;Event-triggered Scheme