网络化多智能体系统预测控制设计与分析

项目名称： 网络化多智能体系统预测控制设计与分析

项目编号： No.61273104

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： 刘国平

作者单位： 哈尔滨工业大学

项目金额： 80万元

中文摘要： 针对网络化多智能体系统所处的外部环境和具有的内部特性，建立包含通信受限(如：网络延时、数据丢失、带宽限制，网络结构可变等)、内部不确定性和外部干扰的网络化多智能体系统动态模型。将重点讨论代价函数耦合、耦合约束条件和通信失效下的网络化多智能体系统的预测控制及其一致性问题。提出基于相容约束和偏差惩罚的网络化分布式预测控制方法，带耦合约束条件的网络化分布式预测控制方法，基于动态协调规则的网络化分布式预测控制方法，带通信失效的网络化双模分布式预测控制方法。结合网络化预测控制方法和鲁棒控制方法，克服系统中的通信受限、模型不确定性和外部干扰对控制性能的影响。采用终极一致有界、收敛界估计等方法进行网络化多智能体系统预测控制的稳定性和一致性分析。最终，为实现网络化多智能体系统的预测控制研究奠定一个理论、实验和应用的基础。

中文关键词： 多智能体系统；网络化控制系统；网络化预测控制；；

英文摘要： This proposed project establishes a dynamical model for networked multi-agent systems with internal uncertainties, external disturbances and communication constraints (for example, network delay, data dropouts, bandwidth limitation, varying network structure etc). The focus of the project is on predictive control and consensus analysis of networked multi-agent systems with cost function coupling, coupling constraints, and communication constraints. It proposes a networked distributed predictive control method based on compatible constraints and error penalty, a networked distributed predictive control method with coupling constraints, a networked distributed predictive control method based on dynamical coordination rules and a networked double module distributed predictive control method without communication. Combing the networked predictive control method and robust control method, the effects of communication constraints, model uncertainties, and external disturbances to the control performance are overcome. The stability and consensus of networked multi-agent predictive control are analyzed using the ultimate consistent bounded method and convergence estimation method. This project will establish a foundation of theory, experiments and applications for the research of predictive control of networked multi-ag

英文关键词： Multi-agent systems；networked control systems；networked predictive control；；