基于模糊模型的多智能体分布式鲁棒输出调节控制理论及应用研究

项目名称： 基于模糊模型的多智能体分布式鲁棒输出调节控制理论及应用研究

项目编号： No.61304153

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： 刘佳

作者单位： 天津职业技术师范大学

项目金额： 25万元

中文摘要： 多智能体系统协同控制在许多领域具有十分广泛的应用，已经成为国内外诸多学者共同关注的研究热点。目前，针对多智能体系统协同控制中的跟踪问题，已有的研究结果大多考虑的是静态领导者或是动态领导者的状态信息能够被所有跟随者完全测得的情况。但是在实际应用中，领导者一般是动态变化的，其信息往往不会被跟随者完全测得。 本项目拟针对一类模型不确定且具有动态领导者或环境干扰的多智能体系统，研究其分布式鲁棒输出调节理论及应用，其中领导者或环境干扰的信息不能被其它智能体完全测得。首先采用模糊模型进行系统辨识，然后利用系统的输出调节理论和智能体之间相互通信的特点，设计分布式反馈控制器，从而使多智能体系统渐近跟踪参考信号或者抑制环境干扰，为实际应用中一些具有不确定模型的多智能体系统一致性及编队控制问题提供理论框架。最后利用数值仿真和Amigobot机器人实验平台验证所得理论结果的有效性。

中文关键词： 多智能体系统；输出调节；分布式控制；模糊模型；编队控制

英文摘要： The coordination control problem of multi-agent systems has attracted considerable attention for the domestic and international researchers, due to its extensive applications in different fields. Recently, most existing research results for tracking problem in coordination control of multi-agent systems were mostly considered static leaders or dynamic leaders, and their state information can not been completely measured by all follower agents. But in practice, the leader agents are dynamic, and not all the information is measurable for the follower agents. This project focuses on the distributed robust output regulation theory and application for a class of multi-agent systems with uncertain models and active leaders or environment disturbance, which information can not be measured by other agents. Firstly, the uncertain systems are identified by fuzzy model, then the distributed feedback controllers are designed by employing the the output regulation for control systems and the characteristics of the communication among the agents. The controllers ensure that the multi-agent systems asymptotically track the reference or reject the environment disturbance. This topic provide a theoretical framework for the consensus control problem for multi-agent systems with uncertain model. Finaly, the effectiveness of acqui

英文关键词： Multi-agent systems；Output regulation；Distributed control；Fuzzy model；Formation control