全状态时变受限下关联非匹配非线性时滞系统的分散协同控制

Interconnected mismatched nonlinear time-delay systems can encompass a large number of real systems. According to the actual engineering requirements, there are certain constraints or control performance requirements on the system state variables. Nonmatching nonlinear structural properties, associated strong coupling in interconnections and multiple time delays present new challenges for the full-state variable constrained control of the interconnected mismatched nonlinear time-delay systems. This project will focus on the problem of decentralized cooperative control of large-scale systems with associated nonlinear mismatches under full state constraints. Firstly, the time-varying dynamic constraint relations of all state variables of interconnected time-delay systems with mismatched nonlinear structures are established to investigate the controllable conditions of large-scale systems; Secondly, new types of barrier Lyapunov functions are constructed to study the decentralized state feedback control problems of the interconnected mismatched nonlinear time-delay systems with time-varying performance constraints of all state variables. Furthermore, under the condition that the state information may be unmeasurable, the low complexity full-state constrained output feedback control problems for nonlinear systems with interconnected nonlinear mismatches are studied based on error performance constrained observers. Finally, the research results are applied to the nonlinear teleoperated robotic systems. The research achievements can enrich the results of nonlinear time-delay systems and establish the fundamental research framework of the full-state time-varying constrainted control of non-matching nonlinear systems. The achievements will provide theoretical support for high-performance control in teleoperation applications such as telesurgery and hazardous environment rescue support.

关联非匹配非线性时滞系统能够刻画一大类实际系统，根据实际工程需求，系统状态变量存在一定限制条件和控制性能要求。非匹配非线性结构特性、关联强耦合与多重时滞给关联非匹配非线性时滞系统的全状态变量受限控制提出了新的挑战。本项目聚焦于研究全状态受限下关联非匹配非线性时滞系统的分散协同控制问题。首先建立非匹配非线性结构特性下关联时滞系统全状态变量动态约束关系，探究大系统可控条件；其次，构造新型障碍Lyapunov函数，研究全状态时变性能约束下关联非匹配非线性时滞系统的状态反馈控制问题；进一步，在状态信息不可测情形下，基于误差性能约束观测器，研究其低复杂度全状态时变性能约束输出反馈控制问题；最后，将研究结果应用于非线性遥操作机器人系统中。研究结果能够丰富关联非线性时滞系统的结果，构建非匹配非线性系统全状态时变受限控制的基本理论框架，为远程医疗、危险环境救援等遥操作实际应用领域的高性能控制提供理论支撑。

关联非匹配非线性时滞系统能够刻画一大类实际系统，工程子系统物理状态变量存在诸多约束性能要求。非匹配非线性结构特性、关联强耦合等给大系统的受限控制带来了挑战。本项目聚焦于研究全状态受限下关联非匹配非线性时滞系统的分散协同控制问题。首先研究了非匹配非线性结构特性下关联时滞系统全状态变量动态约束关系，保证了大系统可控性；其次，构造新型障碍Lyapunov函数，研究全状态时变性能约束下关联非匹配非线性时滞系统的状态反馈控制问题；进一步，在状态信息不可测情形下，基于固定时间观测器，研究其低复杂度全状态时变性能约束输出反馈控制问题；最后，将研究结果应用于非线性遥操作机器人系统和板带轧制振动控制系统中，为无人挖掘、钢铁冶金等应用领域提供了理论支撑。该项目共发表学术论文13篇，其中SCI期刊论文11篇，中国卓越期刊论文1篇，会议论文1篇，此外目前有多篇论文在国际期刊上审稿(IEEE TCYB; IEEE TNNLS等)，研究成果得到了国际和国内学者的评价和关注。基于该项目，申请发明专利1项，授权软件著作权1项，项目负责人获河北省自然科学一等奖一项（网络化非线性动力系统分析与设计，华长春，杨亚娜，张柳柳），同时完成“博新计划”项目结题，博士后顺利出站。