严格反馈非线性多智能体系统的自适应模糊输出反馈包含控制

In the framework of cooperative control and fuzzy control theories, this project will investigate the output-feedback containment control problems for nonlinear multi-agent systems in strict-feedback form under directed topologies. First, for the multi-agent systems with unmeasured states, fuzzy logic systems are utilized to model the nonlinear systems. Then, this project will study the observer-based adaptive fuzzy output-feedback containment control design and the adaptive fuzzy output-feedback containment control design with prescribed performance. Second, for the multi-agent systems with unmeasured states and input constraints, this project will study the observer-based adaptive fuzzy output-feedback containment control design and the adaptive fuzzy output-feedback containment control design with prescribed performance. Finally, the stability, convergence and robustness of the closed-loop systems will be studied by resorting to the tools from Lyapunov stability theory, convex sets and graph theory. The results proposed by this project can further develop and improve the cooperative control theory of multi-agent systems, and have potential applications in practical control problems, such as formation of unmanned air vehicle, coordination of robotic teams, fleet of vessels, etc.

本项目拟在协调控制理论和模糊控制理论框架下，研究有向通信拓扑下严格反馈非线性多智能体系统的模糊输出反馈包含控制问题。主要针对状态不可测的严格反馈非线性多智能体系统，应用模糊逻辑系统对非线性系统进行模糊建模，研究基于观测器的自适应模糊输出反馈包含控制及其满足指定性能的自适应模糊输出反馈包含控制；针对状态不可测且输入受限的严格反馈非线性多智能体系统，研究基于观测器的自适应模糊输出反馈包含控制及其满足指定性能的自适应模糊输出反馈包含控制；应用Lyapunov稳定性理论并结合凸集和图论，分析闭环系统的稳定性、收敛性和鲁棒性等理论问题，获得高水平的理论研究成果。该项目的研究能够进一步发展和完善多智能体系统协调控制理论，而且对多无人机编队、多机器人合作、舰队巡航等的实际控制问题具有潜在应用价值。

本项目针对有向通信拓扑下状态不可测的严格反馈非线性多智能体系统，应用模糊逻辑系统对系统未知动态进行辨识，综合应用非线性自适应控制、协调控制理论及鲁棒控制技术，研究了分布式模糊状态观测器的设计问题。在此基础上，研究了基于观测器的自适应模糊输出反馈包含控制问题；考虑上述系统输入约束环节，提出了能够有效抑制输入约束环节的自适应模糊输出反馈包含控制方法；基于上述研究成果，进一步研究了满足指定性能的自适应模糊输出反馈包含控制方法，使系统实现包含控制的同时满足指定的稳态和暂态性能；应用Lyapunov稳定性理论并结合凸集和图论，给出了相应模糊闭环系统的稳定性、收敛性和鲁棒性等证明方法及计算机仿真验证。本项目相关研究成果发表(含在线发表)在《IEEE Transactions on Fuzzy systems》、《IEEE Transactions on Cybernetics》、《International Journal of Robust and nonlinear control》、《International Journal of Adaptive Control and Signal Processing》等国际期刊(第一作者11篇)、国际和国内重要学术会议上。本项目研究成果进一步发展和完善了非线性多智能体系统协调控制理论，为研究多机器人协调控制问题提供了新方法和理论依据。