基于动态增益非线性干扰观测器的多智能体系统协调跟踪和干扰抑制

项目名称： 基于动态增益非线性干扰观测器的多智能体系统协调跟踪和干扰抑制

项目编号： No.61503089

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： 张戌希

作者单位： 哈尔滨工程大学

项目金额： 21万元

中文摘要： 本项目针对由非线性外部系统产生干扰的多智能体系统，研究具有有向图的多智能体系统的协调跟踪和干扰抑制问题。由于外部干扰由非线性外部系统产生，传统的干扰观测器设计方法不能渐近估计这种干扰。为了达到协调跟踪和干扰抑制的目的，采用动态增益技术，建立适用于一般线性和非线性多智能体系统的非线性干扰观测器设计方案，结合严格正实引理，实现对这种外部干扰的渐近估计。通过分析多智能体系统的控制输入和干扰的系数矩阵的结构，利用有向生成树的性质、Lyapunov分析和输入到状态稳定性理论，构造基于非线性干扰观测器的分布式控制协议，探讨多智能体系统达到协调跟踪和干扰抑制需要满足的条件。本项目的研究结果可以为多智能体系统的协调跟踪和干扰抑制问题提供新的理论依据，所研究的多智能体系统是由无人直升机控制系统抽象提炼而出，所以本项目具有重要的理论意义和应用前景。

中文关键词： 协调控制；干扰抑制；跟踪控制；动态增益；非线性干扰观测器

英文摘要： This project will focus on the multi-agent systems with external disturbance generated by some nonlinear exosystems, and do some research on the problem of cooperative tracking and disturbance rejection of multi-agent systems with directed graph. It is noted that the traditional disturbance observer design can not asymptotically estimate this kind of disturbances since they are generated by some nonlinear exosystems. In order to achieve the goal of cooperative tracking and disturbance rejection, the dynamic gain technique will be adopted, and the nonlinear disturbance observer design based on dynamic gain that will be applicable to the general linear and nonlinear mulit-agent systems will be proposed. By using the nonlinear disturbance observer obtained and the strictly positive real lemma, the disturbance generated by nonlinear exosystems will be estimated asymptotically. Through analyzing the structures of coefficient matrices of the control input and disturbance of the multi-agent systems, and combining the properties of directed spanning tree, Lyapunov analysis and the theory of input to state stability, the distributed control protocol based on the nonlinear disturbance observer can be constructed. Finally, the conditions for achieving the cooperative tracking and disturbance rejection will be explored. The results obtained in this project will give some new ideas and theoretical foundations for the problem of cooperative tracking and disturbance rejection of multi-agent systems, and the multi-agent systems studied in this project are abstracted from the control system of unmanned helicopters, and has important theoretical and practical significance.

英文关键词： cooperative control;disturbance rejection;tracking control;dynamic gain;nonlinear disturbance observer