非平衡通信拓扑下分布式多机电系统的协调控制研究

项目名称： 非平衡通信拓扑下分布式多机电系统的协调控制研究

项目编号： No.61273108

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 自动化技术、计算机技术

项目作者： 陈刚

作者单位： 重庆大学

项目金额： 78万元

中文摘要： 采用多个拉格朗日系统的互联模型研究分布式多机电系统的协调控制是当前研究热点，对于平衡拓扑系统的研究已取得相对丰硕的成果，然而适用于更为广泛的非平衡拓扑系统的分析与控制理论还很欠缺。鉴于此，本项目重点研究适用于一般有向非平衡拓扑下网络化拉格朗日系统分布式协调控制器的设计与分析方法。针对非平衡通信拓扑下且动力学模型未知的网络化多机电系统，运用图论法、人工智能方法、以及无源性方法，研究分布式智能协调控制算法；针对非平衡拓扑下且带有领航者的网络化拉格朗日系统，运用非光滑分析方法、超螺旋算法、以及分数阶系统设计方法，研究分布式有限时间跟踪控制算法；针对非平衡拓扑下且网络节点受到攻击的多机电系统，运用分布式状态估计法、分布式自适应阈值法、以及分布式决策方法，研究分布式故障检测与修复算法；搭建分布式多机械臂系统，进行分布式协调控制实验研究。本项目的研究成果将为分布式多机电系统的工程应用奠定理论基础。

中文关键词： 网络化多机电系统；分布式协调控制；自适应控制；有限时间控制；容错控制

英文摘要： Recently, the topic of cooperative control of distributed multi electromechanical systems using networked Lagrange models has received a great deal of attention. Although a lot of results have been achieved for the networked systems with balanced topologies, the analysis and control theory which is suitable for the unbalanced topologies is far from mature. This proposal will focus on the study of distributed coordination control and analysis of networked Lagrange systems with unbalanced topologies. For the networked multi electromechanical systems with unbalanced topologies and unknown dynamic models, we investigate the distributed intelligent coordination control problem by comprehensively using the algebraic graph method,the artificial intelligence method, and the passivity method. Based on the non-smooth analysis approach, the super-twist algorithm, and the method for the design of fractional-order systems, we study the finite time tracking control problem for the networked Lagrange systems with unbalanced topologies and leader-follower structures. Under the case that the networked Lagrange systems with unbalanced topologies are subject to external attacks, we investigate the distributed fault detection and recovery strategies by comprehensively applying the distributed state estimating method, the distribu

英文关键词： Networked multi-electromechanical systems；distributed cooperative control；adaptive control；finite-time control；fault-tolerant control