复杂环境下异构自主海洋航行器网络的协同优化控制

项目名称： 复杂环境下异构自主海洋航行器网络的协同优化控制

项目编号： No.61502395

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 自动化技术、计算机技术

项目作者： 李慧平

作者单位： 西北工业大学

项目金额： 21万元

中文摘要： 自主海洋航行器是进行海洋开发利用和维护海洋权益的重要工具。目前，协同控制技术是发展自主海洋航行器的关键技术之一，已成研究热点，但主要研究都集中在非优化方式，不能满足获取优化控制性能的实际要求。本项目针对在复杂海洋环境中作业的异构自主海洋航行器网络系统，将多智能体协同优化控制的基本方法拓展到这类非线性网络化大系统之中，推动自主海洋航行器协同控制技术的研究进程。主要内容包括 （1）研究理想条件下异构自主海洋航行器网络的协同优化控制问题，并建立基本的方法；（2）研究协同优化控制机制对外界干扰的鲁棒性，并提出异构自主海洋航行器网络在洋流干扰和参数不确定情况下的协同优化控制方法；（3）研究和分析协同优化控制机制对通讯受限网络的适应性，并提出相应的控制策略；（4）开展实验和应用研究。本项目属于应用基础研究，研究成果在发展多海洋航行器作业系统以及进行高效的海洋开发利用等方面具有重要的应用前景。

中文关键词： 自主海洋航行器；协同优化控制；网络化系统；异构系统；外界干扰

英文摘要： Autonomous marine vehicles (AMVs) are important tools to exploit marine resources and safeguard marine rights and interests. Currently, the cooperative control of AMVs is one of the key technologies and has been a research focus in the areas of AMVs. However, most of the results are developed in non-optimal manners, which cannot meet the practical requirements on optimal control performance. This project studies the cooperative optimal control problems of networked heterogeneous AMVs working in complex oceanic environments, aiming at generalizing the basic approaches in multi-agent systems to networked nonlinear AMVs and further enhancing the research progress of cooperative control of AMVs. The research contents mainly include (1) study the cooperative optimal control problem of networked AMVs in an ideal environment, and establish the basic cooperative optimal approach; (2) investigate the robustness of the cooperative optimal control mechanism with respects to external disturbances, and develop cooperative optimal control approaches that can deal with current disturbances and model uncertainties; (3) study and analyze the adaptability of the cooperative optimal control mechanism when the communication network is constrained and unreliable, and propose corresponding control strategies; (4) conduct experimental and implementation research. This project belongs to applied basic research and has potential applications in developing multiple AMV systems as well as effectively exploiting marine resources.

英文关键词： Autonomous marine vehicles;cooperative optimal control;networked systems;heterogeneous systems;external disturbances