时延异构多自主体系统的一致性研究及其在混合无人机/无人车系统中的应用

项目名称： 时延异构多自主体系统的一致性研究及其在混合无人机/无人车系统中的应用

项目编号： No.61473138

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： 刘成林

作者单位： 江南大学

项目金额： 78万元

中文摘要： 多自主体系统普遍存在于物理学、生物学以及工程应用中，如耦合同步、动物群集、多机器人系统等。然而，通信时延、输入时延、以及自主体动态的异构性给多自主体系统一致性问题研究带来了困难。 本项目考察具有通信时延和输入时延的异构多自主体系统的一致性问题，以多类自主体混合系统和完全异构线性多自主体系统为考察对象。设计直接一致性算法和带补偿器的一致性算法，根据图论、矩阵论、频域分析法、Lyapunov函数法等分析一致性收敛对通信时延、输入时延、以及切换拓扑结构的鲁棒性。此外，将多类自主体混合系统和完全异构线性多自主体系统的一致性算法设计思路与分析方法应用于混合无人机/无人车系统的聚集和编队控制问题研究中，通过分析与综合得到系统在通信时延和输入时延作用下的协调控制算法设计规则和收敛条件。最后，通过2个四旋翼无人直升机和3个地面无人移动小车构成的混合系统的模拟实验来证明本项目理论研究结果的正确性和有效性。

中文关键词： 多自主体系统；一致性；自主控制；分布式控制；时滞系统

英文摘要： Multi-agent system is commonly encountered in physics, biology and engineering applications, such as coupled synchronization, swarming and flocking, multi-robot systems, etc. However, communication delay, input delay, and heterogeneity of agents' dynamics make the study on consensus problem of multi-agent systems difficult. This project considers the consensus problem of heterogeneous multi-agent systems with communication delay and input delay, and chooses mixed system with multi-class agents and fully heterogeneous linear multi-agent system as the investigation objects. The direct consensus algorithm and the consensus algorithm with compensators are designed, and the robustness of consensus convergence to communication delay, input delay and switching topologies is analyzed by using graph theory, matrix theory, the frequency-domain analysis method, Lyapunov function method, etc. In addition, the design ideas and analysis method of the consensus algorithm for mixed system with multi-class agents and fully heterogeneous linear multi-agent system are applied to the rendezvous problem and formation control problem of mixed system composed of unmanned aerial and ground vehicles, and the design rules and convergence condition of the coordination control algorithm for the system under communication delay and input delay are obtained by analysis and synthesis. Finally, the correctness and effectiveness of the theoretical results are proved by the model experiment for mixed system composed of two unmanned quadrotor helicopters and three unmanned ground mobile robots in this project.

英文关键词： multi-agent system;consensus;autonomous control;distributed control;time-delay system