拜占庭故障下网络化多智能体系统的鲁棒一致性研究

Consensus problems of multi-agent systems have wide applications in the civil and military fields. However, the lack of a centralized entity that monitors the activity of all the agents makes multi-agent systems be prone to external malicious attacks, resulting in the performance deterioration. Therefore, it is of importance to study the security issues on consensus of multi-agent systems. For networked multi-agent systems with multiple communication delays, measurement noises and Baizantine faults, in this proposal we plan to carry out the following research. First, we will model the consensus of multi-agent systems with multiple communication delays, measurement noises and Byzantine faults. Second, we will analyze whether multi-agent systems achieve consensus and validity, and find the conditions guaranteeing the achievement of consensus and validity. Third, in order to reduce the dependence of fault tolerance to Byzantine faults on the network connectivity, we will design novel robust consensus protocols. Fourth, we will develop finite-time robust fault detectors and identifiers, the goals of which are to fast and accurately detect and identify Byzantine faults and then to carry out fault isolation by changing the network topology actively. This project is the application-oriented theory research, might provide the safety basis for the application of distributed coordination control of multi-agent systems, and might find the new vigor for the security issues of control systems.

多智能体系统一致性问题在民用和军用领域都有着广泛的应用，但由于缺乏监控所有智能体活动的中心实体，多智能体系统容易遭受外部的恶意攻击，导致系统性能的衰减，因此研究多智能体系统一致性的安全性问题有着重要的意义。本项目针对拜占庭故障下含多通信时滞和测量噪声的网络化多智能体系统，拟开展以下研究内容：（1）建立融多通信时滞、测量噪声及并发智能体拜占庭故障的多智能体系统一致性模型；（2）分析系统是否实现一致性与合法性，寻找系统实现一致性与合法性的条件；（3）设计新的鲁棒一致性协议，降低抗拜占庭故障的容错能力对网络拓扑结构连通性的要求；（4）设计有限时间鲁棒故障检测与辨识器，快速准确检测与辨识拜占庭故障智能体，进而主动改变网络拓扑结构以实施故障隔离。本项目属于应用基础研究，为多智能体系统的分布式协同控制在实际中的应用提供安全性基础，为控制系统的安全性问题寻找新的发展生机。

近几年，多智能体系统分布式协同控制的安全性问题受到了国内外学者的极大关注，一方面由于其在民用和军用领域都有着广泛的应用，另一方面由于其自身缺乏监控所有智能体活动的中心实体。该项目围绕拜占庭故障下网络化多智能体系统的鲁棒一致性问题展开研究，主要研究内容包括：噪声、时滞、拜占庭故障下网络化多智能体系统一致性的建模、分析与控制；网络化多智能体系统的快速有限时间一致性跟踪；拜占庭故障下网络化多智能体系统的分布式故障检测与隔离；拜占庭故障下网络化多智能体系统的容错一致性协议设计。主要研究结果如下：提出了测量噪声存在下一阶多智能体系统的采样数据一致性跟踪协议，给出了系统实现均方有界一致性跟踪的充要条件；提出了时滞（通信时滞/采样时滞）存在下一阶、二阶、混合阶多智能体系统的采样数据一致性协议，给出了系统实现平均一致或稳态一致的充要条件；提出了测量噪声和采样时滞（小采样时滞、大采样时滞）存在下一阶和二阶多智能体系统的采样数据一致性跟踪协议，给出了系统实现均方有界一致性跟踪的充要条件；提出了确保一阶、二阶、混合阶多智能体系统实现有限时间一致性跟踪的快速有限时间一致性跟踪协议，提高了系统的收敛速度；建立了拜占庭故障下二阶离散时间多智能体系统动力学模型，提出了基于未知输入观测器的分布式故障检测与隔离方法；设计了虚拟领导者发生拜占庭故障的一阶与二阶多智能体系统容错一致性跟踪协议，给出了系统实现渐近有界一致性跟踪的充要条件，降低了系统抵抗拜占庭故障的容错能力对网络拓扑结构连通性的要求。在该项目资助下，申请人已在《IET Control Theory & Applications》、《International Journal of Systems Science》《International Journal of Control, Automation, and Systems》、《Journal of the Franklin Institute》、《Physica A》等控制类和物理类国际学术期刊发表8篇SCI论文和1篇EI论文，在WCICA、CCDC等学术会议发表4篇EI论文和1篇ISTP论文，申请人2014年度入选江南大学“至善青年学者”支持计划。