多自主体系统的拓扑优化与连通性控制

项目名称： 多自主体系统的拓扑优化与连通性控制

项目编号： No.61203073

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： 李晓丽

作者单位： 东华大学

项目金额： 25万元

中文摘要： 本项目以拓扑结构与协作行为之间的内在关系为依据，以拓扑结构的优化和控制为主线，重点解决分布式协作理论在应用中针对大规模系统执行效率不高、稳定性依赖于演化状态等关键问题。针对给定的控制律和拓扑约束，基于拓扑代数参数与协作性能之间的数学关系，从多层递阶拓扑空间范畴研究系统最优组织结构，通过拓扑结构的离线优化提高系统的协作性能；对于拓扑结构与状态相互影响的情况，基于拓扑连通性对协作稳定性的关键作用，构造与目标构形相容的拓扑关键连通子图，通过有界输入的状态反馈控制律保持关键连通子图，实现以稳定性保证为前提的有界输入协作控制；进而，利用分布式预测控制可处理约束和滚动优化系统性能的特点，研究有界输入的拓扑连通性滚动优化控制问题，保证系统稳定性并优化协作性能。本项目研究将深化分布式协作与性能优化理论，本项研究所发展的分布式约束预测控制理论，对预测控制理论本身的发展和实际应用也具有重要意义。

中文关键词： 拓扑控制；连通性保持；滚动优化；结构能控性；分布式牵伸控制

英文摘要： This project aims at solving some critical problems in the applications of distributed cooperative control, including the poor efficient as system size grows, the evolving state dependence of stability. The work in this project is based on the inherent relationship between topology and cooperative behaviors, and goes along the line of topology optimization and control. Given the control law and topology constraint, some mathematical relationships can be found between the algebraic parameters of topology and the cooperative performance. The optimal organizing structure is studied from the viewpoint of multiple layers and hierarchy to improve the cooperative performance of group. Consider the interactional situations of topology and agent state, where topology connectivity plays a critical role in the stability of cooperation. The key connected subgraph of topology consistent with the objective structure is constructed and preserved with bounded input of state feedback. In this way, the cooperative control is achieved with guarenteed stability and bounded control law. Furthermore, by utilizing the characteristics of distributed predictive scheme handling constraints and optimizing performance, the bounded receding horizon control of topology connectivity is studied to guarantee the stability and to optimize the co

英文关键词： topology design；connectivity preservation；rolling optimization；structural controllability；distributed stretching control