基于广义输出调节的非线性多个体系统的协调控制与优化

项目名称： 基于广义输出调节的非线性多个体系统的协调控制与优化

项目编号： No.61503033

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： 唐于涛

作者单位： 北京邮电大学

项目金额： 20万元

中文摘要： 多个体系统的协调控制与优化是当前控制领域的热点问题之一。已有的研究结果往往局限于个体模型相对简单且精确已知等情形， 而对具有重要理论意义和实际应用价值的不确定非线性系统研究结果不多。本项目基于广义输出调节框架，研究在含外部（无界）扰动、切换通信拓扑或不完全信息等情形下非线性多个体系统的分布式协调控制与优化问题。具体研究内容包括：1）对含外部扰动和切换通信约束的一般线性和可线性化的非线性多个体系统进行在线扰动估计、补偿和分布式观测，实现分布式协调；2）对同时存在扰动和未知驱动领导者的异质非线性多个体系统，充分利用已有信息并结合广义输出调节框架，设计分布式的自适应动态补偿器实现调控和优化。该研究通过考虑实际系统中广泛存在的外部扰动、参数不确定性和非线性等因素，将摆脱现有多个体系统理论中模型过分简单且精确已知的束缚，为处理含不确定性的非线性多个体系统的协调控制与优化问题提供新方法。

中文关键词： 非线性系统；切换拓扑；未知输入领导者；非线性内模；分布式优化

英文摘要： Coordinated control and optimization of multi-agent systems has been a hot topic in the past decade. While most of existing conclusions were derived only for simple and known dynamical agents, including integrators and linear systems, there are few results for nonlinear and uncertain multi-agent systems. This project mainly emphasizes on nonlinear and/or uncertain multi-agent systems subject to possible (unbounded) disturbances, switching topologies and incomplete information, and we aims to propose effective protocols to achieve distributed coordination and optimization. Specifically, it will include: 1) distributed coordination of common linear and linearizable nonlinear multi-agent systems subject to external disturbances and switching topologies via online disturbance estimation, compensation, and distributed observation; 2) distributed coordination and optimization of nonlinear multi-agent system with unknown-input leaders and possible (unbounded) disturbances by nonlinear internal model and adaptive control via generalized output regulation. It will provide a general framework for coordinated control and distributed optimization of nonlinear heterogeneous multi-agent systems, which can admit unknown inputs of the leader, external disturbances in the network, and also parameter uncertainties.

英文关键词： Nonlinear systems;switching topology;unknown-input leader;nonlinear internal model;distributed optimization