非线性多自主体系统协作式鲁棒输出调节问题研究

Recently, the cooperative robust output regulation problem for multi-agent systems has received more and more attention, and emerged as an interesting research topic of the control community. The problem aims to design a distributed control law for the multi-agent system to maintain the stability of the closed-loop system, and to achieve the asymptotic tracking of a class of reference signals and the rejection of a class of disturbances. What makes this problem interesting and challenging is that it deals with the heterogeneous multi-agent systems, and addresses such new issues as disturbance rejection, robustness with respect to parameter uncertainties, and so on. So far, the problem has been widely studied for linear multi-agent systems. But there are few studies on nonlinear multi-agent systems, especially, on their semi-global and global control designs. Therefore, in this proposal, we will study both the semi-global and the global cooperative robust output regulation problems for nonlinear multi-agent systems. We will establish the distributed internal model principle for the nonlinear multi-agent system, and develop some novel nonlinear robust and adaptive stabilization control techniques, then eventually, extend the output regulation theory from a single nonlinear system to the nonlinear multi-agent system. Finally, we will use our theoretical results and novel methods for solving several cooperative control problems, such as consensus, rendezvous and formation problems, for some practical multi-agent systems, which will make our results widely applicable.

近年来，多自主体系统的协作式鲁棒输出调节问题受到控制界的广泛关注，成为控制科学研究领域具有国际前沿意义的课题之一。该问题旨在设计分布式控制器，使得闭环系统稳定，同时让系统的输出渐近跟踪一类参考信号并渐近抵制一类干扰信号。由于该问题研究对象的一般化，且兼顾考虑了不确定性参数与外界干扰等因素，因此，具有深刻的研究意义。目前，相关研究成果大多是针对线性多自主体系统，而对非线性多自主体系统的研究较少，其理论与应用均有待发展与完善。为此，本项目拟研究非线性多自主体系统半全局与全局协作式鲁棒输出调节问题，通过建立非线性多自主体系统的分布式内模原理以及发展各类新型分布式鲁棒与自适应镇定控制技巧，实现鲁棒输出调节理论从单一非线性系统到非线性多自主体系统的推广。同时，项目拟应用所获得的理论成果求解若干实际多自主体系统的趋同、聚类及编队等问题，使得协作式鲁棒输出调节理论具有广阔的应用前景。

近年来，多自主体系统的协作式鲁棒输出调节问题受到控制界的广泛关注，成为控制科学研究领域具有国际前沿意义的课题之一。该问题旨在设计分布式控制器，使得闭环系统稳定，同时让系统的输出渐近跟踪一类参考信号并渐近抵制一类干扰信号。由于该问题研究对象的一般化，且兼顾考虑了不确定性参数与外界干扰等因素，因此，具有深刻的研究意义。本项目沿此课题方向深入探讨了非线性多自主体系统的各类协作式鲁棒输出调节问题，完成了包括：单向固定网络中的各类协作式鲁棒输出调节问题、在外部系统具有不确定性参数与受控系统具有未知控制方向的情况下的非线性协作式鲁棒输出调节问题、切换时变网络与蜂拥时变网络中的协作式鲁棒输出调节问题等三方面理论研究内容。本项目建立了非线性多自主体系统的分布式内模原理以及发展了各类新型分布式鲁棒与自适应镇定控制技巧，从而实现了鲁棒输出调节理论从单一非线性系统到非线性多自主体系统的推广。同时，通过利用分布式内模的理论成果，实现了机器人组的聚类控制设计以及多船舶系统的编队控制设计，完成了理论成果的若干实际应用。在研究计划资助下，共计发表（含录用）国际权威期刊与会议论文17篇，其中SCI收录论文8篇，在系统控制领域两大国际顶级期刊IEEE Transactions on Automatic Control与Automatica上共有6篇。项目负责人苏友峰于2015年入选第十一批国家“千人计划”青年人才。