带有输入饱和的多智能体系统的包含控制研究

In recent years, containment control problems for multi-agent systems have attracted researchers from home and abroad, due to their wide applications in various fields. Tracked the existing literature, the results about containment control problems for multi-agent systems with input saturation are few, which is needed to give the deep study. In this project, when the case of the presence of actuator saturation, effective containment control methods for several different types of agents dynamics will be proposed. And advanced theoretical results about containment control problem will be derived. Focusing on containment control problems for several multi-agent systems with input saturation, the aim of this project is to improve some existing results, propose and discuss some new problems, and initially apply above results into practice engineering. For a great number of agents in communication networks, not by using linear matrix method, based on the stability of nonlinear system theory, graph theory, other advance methods and techniques, the conditions for containment control problems of multi-agent systems will be given. At present, the problems investigated in this project are hot topics in control community, which meets the development trends in the field.

近年来，由于多智能体系统的包含控制有着广泛的应用领域，引起了国内外学者的关注。 跟踪现有文献发现，对于带有输入饱和的多智能体系统的包含控制问题，研究成果较少，有待进一步的深入研究。本项目拟针对几类不同动态的多智能体系统，在执行器存在输入饱和的情况下，提供有效的包含控制设计方法，得到包含控制问题先进的理论研究成果。本项目的研究目的是研究几类带有输入饱和的多智能体系统的包含控制问题，改进现有文献的结果并提出和探讨新问题，得到较为体系的研究成果并初步应用到实际工程。对于智能体数目巨大的通信网络，本项目不借助线性矩阵不等式的方法，而寻求非线性系统稳定性理论、图论以及其它先进的研究方法和技术，得到带有输入饱和的多智能体系统的包含控制的条件。本项目的选题是当前控制学科的热点问题，顺应了该学科的发展趋势。

近年来，由于多智能体系统的协调控制有着广泛的应用领域，引起了国内外学者的关注。本研究针对几类多智能体系统，提出相应的分布式协调控制算法。首先，针对低阶多智能系统，为了减少能量的消耗，引入了触发控制机制。基于触发控制的数据，设计了有效的分布式包含控制算法。其次，研究了当控制器存在非线性约束时，即输入饱和的情况，提出了带有输入饱和的包含控制算法。又由于考虑了实际的系统中，每个智能体的运动状态都不一样，即异质多智能体系统。进而，针对一类异质多智能系统，给出了有效的输出一致性算法。当通信拓扑结构是随机变化和外部干扰时，研究了异质多智能系统的H无穷一致性控制。利用系统稳定性理论、图论、多项式逼近、线性矩阵不等式等方法，得到了一系列较为先进的理论成果。