基于势场法的多智能体系统鲁棒自适应刚性编队控制

项目名称： 基于势场法的多智能体系统鲁棒自适应刚性编队控制

项目编号： No.61503329

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 自动化学科

项目作者： 王芹

作者单位： 扬州大学

项目金额： 20万元

中文摘要： 本项目研究了基于势场法的多智能体系统鲁棒自适应刚性编队控制问题。在实际编队过程中，由于通信和传感范围的有限性、编队任务的复杂性、运动过程中智能体之间的避撞以及环境等因素导致闭环控制系统中各个子系统均含有非线性环节，并且这些非线性子系统之间通过拓扑网络相互耦合，这就给编队控制器的设计以及闭环系统的稳定性分析带来了诸多困难与挑战。鉴于此，本项目针对一阶积分器系统和更复杂的非线性系统模型，采用图论、自适应摄动理论和非光滑理论相结合的方法，设计合适的编队控制策略，解决多平衡点问题，并分析无向通信和有向通信拓扑下编队控制系统的全局稳定性。进一步，考虑相对位置不能精确测量、通信时延和切换拓扑这些实际因素对系统性能不可忽略的影响，结合观测估计法和自适应摄动法，研究系统性能改善问题，并分析整个闭环系统的稳定性。该项研究将会缩小理论与应用的差距，为多智能体编队系统从理论走向实际系统的开发打下扎实的基础。

中文关键词： 队形控制；势场法；自适应摄动法；多智能体编队；全局稳定性

英文摘要： In this project, the problem for robust adaptive formation Control of multi-robot systems with navigation-function method is investigated. In the actual formation process, due to the limitation of the communications and the sensing range, the complexity of formation missions, the collision avoidance among communicating agents during the motion, and the environmental factors, etc,, each closed-loop subsystem is nonlinear and these nonlinear subsystems are coupled to each other via network topology links, which has brought many difficulties and challenges for the design of formation controllers and the analysis of stability of the closed-loop systems. In view of this, using the method combined by graph theory, adaptive control theory and non-smooth theory, the novel formation control algorithm for integrator system and the more complex nonlinear system model is designed to solve the multiple equilibria problem in the project. Simultaneously, the global stability of the overall close-loop formation system under the undirected and directed communicating topology is analyzed. Furthermore, the non-ignorable influence of formation control system performance induced by the measurement error, communicating delay and switching topology is considered. With the method combined by nonlinear control theory, adaptive control theory and robust control theory, the improvement of system performance is studied, and the stability of the closed-loop systems is analyzed, too. In summary, the study will narrow the gap between theory and applications, and lays a solid foundation for the theory to practical systems development of the networked formation control system.

英文关键词： formation-shap control;navigation-function method;adaptive perturbation method;multi-agent formation;global stability