基于特殊矩阵的网络牵制控制研究及其在群体机器人中的应用

项目名称： 基于特殊矩阵的网络牵制控制研究及其在群体机器人中的应用

项目编号： No.61273218

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 自动化技术、计算机技术

项目作者： 宋强

作者单位： 河南工业大学

项目金额： 60万元

中文摘要： 现实生活中的网络系统往往都由数目众多的节点耦合构成，研究表明可对少数关键节点施加牵制控制驱使整个网络涌现出期望的群体行为。本项目拟利用M矩阵和非负矩阵等几种特殊矩阵的理论，密切结合网络的拓扑结构特征，针对网络系统牵制控制的几个公开问题进行深入研究，主要包括：(1)哪些类型的节点必须牵制，哪些类型的节点可不必牵制；（2）需要牵制多少个节点才能实现网络的控制；（3）牵制增益对网络控制的性能有什么影响。迄今为止，这些公开的难题仍然没有从理论层面上得到很好的解决，本项目拟基于特殊矩阵建立网络系统牵制控制的严格理论体系，探索如何用最少数目的节点和尽可能小的牵制增益实现网络的控制，深刻论述牵制控制的本质及内在机理。为使研究内容有更大的现实意义，本项目将进一步把已探明的网络系统牵制控制理论应用于群体机器人的实际控制中，并利用降维观测器及有限时间控制技术等设计出鲁棒可靠的协同控制算法。

中文关键词： 网络系统；牵制控制；M矩阵；同步与一致性；执行器饱和

英文摘要： Most networked systems in our daily life are usually composed of a large number of interconnected nodes. Hence, it is literally impossible to apply control actions to all network nodes due to the high control cost and the difficulty of real implementations. It has been shown that a network can be driven to exhibit collective dynamics by pinning a small fraction of network nodes. In this project, some open problems in the pinning control of networked systems are deeply investigated by adopting the theories on M-matrices and fully considering the network topologies. The main research contents of this project are summarized as follows: (1) What kind of nodes should be pinned and what kind of nodes may be left unpinned; (2) How many nodes are needed to pinned; (3) What effect do the pinning gains have on the control performance. Up to date, these challenging problems are not resolved very well by the theoretical analysis. This project aims to establish a rigorous framework based on special matrices for the pinning control of networked systems, investigates how to pin the network using a mimimum of controllers and the smallest pinning gains, and deeply discusses its essence and principles. To enhance the practical significance of this project, we will apply the proposed pinning control strategies for the cooperative

英文关键词： Networked systems；pinning control；M-matrix；synchronization and consensus；actuator saturation