复杂多智能体系统分布式输出调节问题的研究

项目名称： 复杂多智能体系统分布式输出调节问题的研究

项目编号： No.61473098

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 自动化技术、计算机技术

项目作者： 王晓丽

作者单位： 哈尔滨工业大学

项目金额： 81万元

中文摘要： 分布式输出调节作为多智能体系统协调控制研究中的新兴方向引起了国内外研究者的极大关注，但是该方面的研究处于起步阶段，还有许多难题亟待解决。本项目在已有研究的基础上，对复杂多智能体系统分布式输出调节问题进行研究，主要包括以下内容：1.充分考虑多智能体系统中动力学模型的非线性和通信拓扑的时变性，综合运用输出调节、平均理论等解决非线性多智能体系统切换拓扑联合连通情形下的分布式输出调节问题；2.开发利用智能体自身和外部环境因素等信息，采用非光滑分析等方法，对多智能体系统进行有效的协调和优化；3.将外部环境因素等信息融于领导者动力学系统中，建立一类动态覆盖问题，并用分布式输出调节理论解决这一覆盖问题。总之，本项目综合运用输出调节理论、非光滑分析等先进数学工具为解决多智能体系统分布式控制问题提供一种新方法，并利用多机器人系统平台进行仿真实验。

中文关键词： 多智能体系统；分布式控制；输出调节；覆盖

英文摘要： Distributed output regulation as the new research direction of the distributed control of multi-agent systems has had a lot of attention of researchers at home and abroad. The research has just started, there are a lot of problems to be solved. This project will study distributed output regulation problem of complex multi-agent systems based on the existed research, mainly including the following aspects: 1.Fully consider the nonlinear dynamics and the time-varying communication topology of multi-agent systems. Using output regulation, average theory, to deal with the distributed output regulation of multi-agent systems under switching topology with joint connected; 2.Fully develop and utilize external information including agent itself and environmental factors. Using the method of nonsmooth analysis, to coordinate and optimize the multi-agent systems effectively; 3.External environment is dissolved into the leader dynamics to establish a mathematical model of the coverage problem. Use the distributed output regulation theory to solve this problem. All in all, this project will comprehensive utilize the mathematical tools such as output regulation control, nonsmooth anlysis and so on. We give a set of methods dealing with complex multi-agent systems. Then we experiment with the multi-robot systems.

英文关键词： multi-agent systems;distributed control;output regulation;coverage