高阶异构多智能体系统输出时变编队跟踪控制理论及应用

Time-varying output formation tracking control for high-order heterogeneous multi-agent systems has broad potential applications in cooperative task execution for multiple unmanned aerial vehicle (UAV)-unmanned ground vehicle (UGV) heterogeneous systems or multiple UAV-unmanned surface vessel (USV) heterogeneous systems. It is also a common hot research filed and challenge in both academic and industrial communities. This research project intends to investigate the theory and application problems for time-varying output formation tracking control of high-order heterogeneous multi-agent systems. First of all, time-varying output formation control problems for high-order heterogeneous multi-agent systems will be dealt with. Methods to analyze the time-varying output formation feasibility and design the constructed time-varying output formation control protocol are to be proposed. Criteria for high-order heterogeneous multi-agent systems to achieve time-varying output formation and explicit expressions for the output formation reference functions are to be presented. Secondly, for the high-order heterogeneous multi-agent systems with a leader of unknown control input, the effects of the leader’s unknown control input on the time-varying output formation tracking control will be studied. Feasible constraints on the time-varying output formation tracking for high-order heterogeneous multi-agent systems and conditions on the convergence of the designed formation tracking protocol will be presented. Moreover, based on the adaptive control theory, theories and methods independent of the topology’s global information and the upper bound information of the leader’s control input will be proposed for the high-order heterogeneous multi-agent systems to achieve the time-varying output formation tracking in a distributed way. Finally, based on the existing multiple UAV-UGV heterogeneous platform system, series of experiments for typical task scenes will be designed and carried out using the multiple UAV-UGV heterogeneous platform system to demonstrate the effectiveness of the obtained theoretical results.

高阶异构多智能体系统输出时变编队跟踪控制在多无人机-无人车空地协同及多无人机-无人艇空海协同等领域具有潜在的应用价值，也是学术界和工业界一个共同的研究热点及难点。本项目拟对高阶异构多智能体系统输出时变编队跟踪控制理论及应用问题进行研究。首先，研究异构多智能体系统输出时变编队控制问题，提出输出时变编队可行性分析方法及输出时变编队控制协议设计算法，给出实现输出时变编队的判据及编队参数函数的显式表达式。针对领导者具有未知控制输入的高阶异构多智能体系统，分析领导者未知输入对实现输出时变编队跟踪的影响，给出多智能体系统实现输出编队跟踪的可行性条件及所设计的编队跟踪控制协议的收敛性判据。进一步，提出不依赖于拓扑全局信息和领导者输入上界信息的分布式自适应输出时变编队跟踪控制理论和方法。最后，基于已有的多无人机-无人车异构协同验证平台系统，针对典型任务场景设计系列应用实验，对所取得的理论结果进行实验验证。

本项目以集群智能国家重大战略需求为牵引，以跨域协同为应用背景，深入研究了高阶异构多智能体系统输出时变编队跟踪控制理论及方法。针对异构多智能体系统的输出时变编队控制问题，提出了输出时变编队可行性分析方法及输出时变编队控制协议设计算法，给出了实现输出时变编队的判据及编队参数函数的显式表达式；针对领导者具有未知控制输入的高阶异构多智能体系统，分析了领导者未知输入对实现输出时变编队跟踪的影响，给出了多智能体系统实现输出编队跟踪的可行性条件以及所设计的编队跟踪控制协议的收敛性判据；基于邻居节点信息交互，设计了由分布式观测器与局部跟踪控制器构成的分层控制架构，提出了不依赖于拓扑全局信息和领导者输入上界信息的分布式自适应输出时变编队跟踪控制理论和方法；搭建了基于无人机和无人车的异构多智能体协同验证仿真和实验平台，设计了空地协同侦察等系列应用实验，对所取得的编队跟踪控制理论结果进行了实验验证。在本项目的资助下，发表/录用SCI检索论文40篇，EI检索论文37篇，其中IEEE汇刊论文共13篇（含长文12篇），国际会议最佳论文/提名奖3篇，上述研究成果均标注基金资助号；获军事技术发明奖一等奖、中国指挥与控制学会科技进步奖一等奖、中国发明协会技术发明奖一等奖等，项目负责人董希旺教授入选国家高层次人才、国家优青、中国指挥与控制学会青年科学家、爱思唯尔2021年中国高被引学者等。