项目名称： 通信约束下间歇量测的多自主体系统趋同控制研究

项目编号： No.61503045

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： 姜玉莲

作者单位： 长春工业大学

项目金额： 20万元

中文摘要： 多自主体网络系统因带宽限制、通信成本、设备故障等影响不可避免会导致通信约束及信息间歇量测的发生，使趋同控制器分析和设计愈加困难。本项目在通信时滞等通信约束的存在下，将间歇量测建模成随机采样方式，建立事件触发通信策略对采样信息有选择地量化并设计趋同控制器，构建通信约束下间歇量测多自主体系统趋同控制的整体工作结构。然后，针对状态信息可间歇量测情况，设计并分析基于量化状态的趋同控制律，仅输出信息可测时，提出基于观测器的量化动态输出反馈趋同控制律并分析稳定性。考虑具有非线性动态的多自主体系统，研究基于量化状态反馈的趋同控制器和基于观测器的量化输出反馈趋同控制器的设计和稳定性问题。最后，形成统一、有效的通信约束下间歇量测多自主体系统趋同控制方案，并在多机器人系统中验证、改进和完善。研究成果将进一步完善多自主体趋同控制的理论基础，为通信约束下间歇量测的多自主体趋同控制方法的推广应用提供理论依据和指导。

中文关键词： 多自主体系统；趋同性；通信约束；间歇量测；事件触发

英文摘要： Due to influence of bandwidth constraints, communication costs or equipment failure, it is inevitable that communication constraints and intermittent measurements of information occur in multi-agent network systems. This results in that the controller analysis and design is more difficult. The project consider there exists communication constraints such as communication delay, the intermittent measurements is modeled as stochastic sampling, then event-triggered communication strategy is constructed to quantify sampled information selectively, design consensus controller and establish the overall work structure for consensus control of multi-agent systems with communication constraints and intermittent measurements. Then, for the case that state information is measured intermittently, quantified state-based consensus control law is designed and analyzed. And observer-based quantified dynamic output feedback consensus control law and the stability of system is researched for only measured output information. Furthermore, considering multi-agent systems with nonlinear dynamics, the design and stability problems for the consensus controller based on quantified state feedback and based on quantified output feedback with observer are studied, respectively. Finally, a unified and effective consensus control scheme is formed for multi-agent systems with communication constraints and intermittent measurements, and is verified, improved and perfected in the multi-robot systems. Research results will further improve the theoretical basis of consensus control for multi-agent systems, and provide a theoretical basis and guidance for popularization and application of consensus control methods for multi-agent systems under communication constraints and intermittent measurements.

英文关键词： Multi-agent systems;Consensus ;Communication constraint;Intermittent measurement;Event-triggered