不确定多智能体系统一致性的分布式自适应控制

项目名称： 不确定多智能体系统一致性的分布式自适应控制

项目编号： No.61203068

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： 王薇

作者单位： 清华大学

项目金额： 24万元

中文摘要： 在多智能体系统的实际应用中，不可避免地存在着各种不确定性。因此，对此类系统研究分布式控制算法时考虑这些不确定性因素的影响对于提高算法的实用性、鲁棒性和系统的可靠性有着重要的实际意义。另外，考虑到目前国内外围绕多智能体系统内存在的非匹配未知参数、智能体间耦合不确定性和未知部件故障等问题，取得的基于自适应方法的研究结果还很有限。本项目将以实现系统一致性收敛或跟踪为目的，主要开展以下三个内容的研究：1. 针对单个智能体内部含有未知参数的多智能体系统，特别是含非匹配未知参数的更一般多智能体系统，提出合理的分布式自适应控制方案；2.考虑智能体间的耦合不确定性，包括局部范围内固有耦合及整个系统中"扩散性耦合"的参数与结构不确定性，研究有效的自适应协调机制修正方案，使其对这些耦合具有良好的鲁棒性能；3. 针对含未知参数的多智能体系统，考虑某些智能体可能出现的未知执行器故障，研究自适应故障补偿控制方案。

中文关键词： 分布式协调控制；自适应控制；多智能体系统；一致性；不确定性

英文摘要： It is both theoretically and practically important to investigate the consensus problem for multi-agent systems (MAS) with various kinds of uncertainties, such as unknown internal parameters, unmodeled dynamcis, exogenous disturbances and so on. Adaptive control is one of the promising tools in developing distributed coordination control schemes for uncertain MAS due to its prominent feature in handling parametric, structural uncertainties and variations in the systems. Although there are a number of results have been reported in distributed adaptive control for consensus of uncertain MAS, some challenging issues deserve further investigation including the following: 1. Adaptive output consensus of lth-order (l≥2) MAS in the presence of unknown mismatched parameters; 2. Adaptive consensus of MAS in the presence of inherent uncertain couplings between （local） neighbors as well as unknown diffusive couplings in global area; 3. Adaptive compensation control of MAS with unknown actuator failures or faults. The main objective of this project is to develop a systematic methodology for control design and analysis of MAS with the above issues comprehensively discussed. Both leaderless and leader-following consensus problems will be studied and the effects due to communication delays will also be considered.

英文关键词： Distributed Coordinated Control；Adaptive Control；Multi-agent Systems；Consensus；Uncertainties