复杂网络环境下Euler-Lagrange系统分布式协调控制问题研究

项目名称： 复杂网络环境下Euler-Lagrange系统分布式协调控制问题研究

项目编号： No.61203354

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 自动化学科

项目作者： 闵海波

作者单位： 中国人民解放军第二炮兵工程大学

项目金额： 26万元

中文摘要： Euler-Lagrange（简称为EL）方程可以刻画一类典型机械系统的动力学特性。针对多EL系统协调控制的研究是目前多智能体控制领域一个前沿和热点，具有广阔的应用前景和广泛的工程适用性。多EL系统通过网络进行信息传输，而网络存在时延、随机包丢包及拓扑切换等问题，复杂的网络环境给多EL系统协调控制的分析和设计提出了新的挑战。本课题研究复杂网络环境下多EL系统的性能分析与分布式控制器设计问题。首先，针对复杂网络环境，研究复杂网络特性与系统动力学特性的一体化建模理论与方法。在此基础上突破复杂网络环境下EL系统多性能分析、分布式控制器设计及系统状态不完全可观测、含不确定性情形下的系统综合等理论与技术，并在多机械臂协调控制平台上进行理论验证。其研究成果有望突破现有理论在处理该类问题时存在的瓶颈，可望为未来空间航天器编队等工程实践奠定坚实的理论和技术基础。

中文关键词： Euler-Lagrange 系统；协调控制；时延；切换网络；未知参数

英文摘要： Euler-Lagrange (EL) equation can be used to describe the dynamic characteristics of a large class of typical mechanical systems. The networked multi-EL system features in its broad and promising applications in both civic and military areas, and the study on coordination control of this system has become a frontier in the control of multi-agent system. Since multi-EL systems exchange information via networks which inevitably possesses time-delay, message dropouts and switching topology problems, it becomes challenging when all these complex characteristics of networks are taken into consideration for system analysis and the controller design. This proposal attempts to study these problems in a unified theoretical framework. First, by comprehensively considering the complex characteristics of networks and the dynamics of EL systems, we will establish a unified mathematical model to describe the inherent features of the whole system. Based on this, the problems of system analysis, design of the distributed controllers when the states of systems are not all observable and the parameters are unknown will be resolved. Finally, experiments will be conducted in a networked manipulator platform to verify the effectiveness of our proposed algorithms. We believe that through this study, it will break the existing bottlen

英文关键词： Euler-Lagrange Systems；Coordination Control；Time Delay；Switching Topologies；Unknown Parameters