多自主体系统分布式跟踪控制及其在车辆队列中的应用

项目名称： 多自主体系统分布式跟踪控制及其在车辆队列中的应用

项目编号： No.61203142

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： 王金环

作者单位： 河北工业大学

项目金额： 24万元

中文摘要： 车辆队列是智能交通领域的研究热点。目前的研究主要集中在仿真层面，理论分析较少。因此，本项目从新的角度考虑这一问题，对车辆队列用多自主体系统建模。首先，研究一类典型的Leader-follower多自主体模型的分布式跟踪问题。模型中领导者的系统矩阵是任意的，从而使其运动轨迹多样化，同时领导者的控制输入对每个跟随者来说是未知的。针对领导者系统矩阵的不同形式，给出一整套基于分布式观测器的控制器设计方法，分析网络拓扑结构对系统稳定性的影响，给出系统实现跟踪的参数条件。其次，进一步研究基于该模型的车辆队列问题。考虑将跟踪控制基于分布式观测器的设计方法应用到车辆队列问题中，以理论分析为主，并结合数值仿真，分析车辆队列的稳定性、对未知信息的适应性及对外界干扰的鲁棒性。这些问题的深入研究为分布式传感器阵列、多移动机器人等系统提供理论基础，并对智能交通系统具有指导意义，有利于减少交通拥塞，增强道路安全性。

中文关键词： 多自主体系统；分布式控制；观测器；跟踪；人员疏散

英文摘要： Vehicle platoon is a hot topic in the field of intelligent transportation. Current research mainly focuses on the simulation level and the theoretical analysis is few. Therefore, this project will consider this issue from a new point of view and model the vehicle platoon based on multi-agent system. Firstly, the distributed tracking problem of a class of typical leader-follower multi-agent model is studied. In this model, the system matrix of the leader can be of any form which makes the leader's trajectory diversified. The control input of the leader is unknown to any of the followers. For different forms of the system matrix of the leader, we give a set of distributed observer-based controller design method, and analyze the influence of network topology to the stability of the system and the parameters to achieve the tracking. Secondly, further study will focus on the vehicle platoon based on this model. The design method of the tracking control based on the distributed observer is applied to the vehicle platoon problem. The theoretical analysis associated with numerical simulation will be made to analyze the stability of the vehicle platoon, the adaptability to unknown information and the robustness to external disturbance. The investigation of these problems will provide a theoretical basis for distributed s

英文关键词： Mutlti-agent systems；Distributed control；Observer；Tracking；Pedestrian evacuation