通信时间受限的多智能体系统一致性控制及应用

项目名称： 通信时间受限的多智能体系统一致性控制及应用

项目编号： No.61304168

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： 温广辉

作者单位： 东南大学

项目金额： 25万元

中文摘要： 本项目研究通信时间受限的高阶多智能体系统的一致性问题及其在多个柔性机械臂系统同步控制中的应用。建模中，主要考虑以下两类通信时间受限的信息通信模式：间歇通信和采样通信。对线性高阶多智能体系统，首先构造仅依赖于邻居智能体间歇相对状态信息的一致性协议，刻画并讨论有向拓扑的代数连通性及系统的间歇通信率对一致性的影响；进而给出基于采样通信的一致性协议的设计方法；分析上述两种通信模式下多智能体系统一致性对外部扰动的H∞性能品质，并给出相应的优化设计协议。建立间歇通信和采样通信下高阶非线性多智能体系统实现一致性的条件；阐明通信拓扑的代数连通性、间歇通信率和采样时间区间对一致性的影响。解决间歇通信和采样通信下多个柔性机械臂的分布式同步控制问题。经过本项目的研究，初步建立一个处理通信时间受限的多智能体系统一致性问题的新方法，这将不仅推动一致性理论的发展，而且将在柔性机械臂同步控制等领域有着重要的应用。

中文关键词： 多智能体系统；协调控制；一致性；间歇通信；通信拓扑

英文摘要： This project considers the distributed consensus problem of high-order multi-agent systems with limited communication duration and its applications in synchronization control of manipulators with flexible joints. The following two communication models, i.e., the intermittent communication and sampled-data communication models, are considered in modeling the multi-agent systems. First, a class of consensus protocols based only on the intermittently relative states of neighboring agents is given to achieve consensus in high-order linear multi-agent systems. The effects of the intermittent communication rate and the directed topology's algebraic connectivity on the achievement of consensus is clearly addressed. Then, some consensus protocols based on the sampled-data communications are designed and employed. For the multi-agent systems with external disturbances, the H∞ performance indices of the closed-loop multi-agent systems with the above-mentioned two kinds of protocols are respectively analyzed. The optimized design problem how to make the closed-loop multi-agent systems yield a better H∞ performance index is also discussed. For high-order nonlinear multi-agent systems, some sufficient conditions for achieving consensus with intermittent and sampled-data communications are respectively provided and analyzed.

英文关键词： Multi-agent system；Cooperative control；Consensus；Intermittent communication；Communication topology