复杂环境下异构自主海洋航行器网络的协同优化控制

Autonomous marine vehicles (AMVs) are important tools to exploit marine resources and safeguard marine rights and interests. Currently, the cooperative control of AMVs is one of the key technologies and has been a research focus in the areas of AMVs. However, most of the results are developed in non-optimal manners, which cannot meet the practical requirements on optimal control performance. This project studies the cooperative optimal control problems of networked heterogeneous AMVs working in complex oceanic environments, aiming at generalizing the basic approaches in multi-agent systems to networked nonlinear AMVs and further enhancing the research progress of cooperative control of AMVs. The research contents mainly include (1) study the cooperative optimal control problem of networked AMVs in an ideal environment, and establish the basic cooperative optimal approach; (2) investigate the robustness of the cooperative optimal control mechanism with respects to external disturbances, and develop cooperative optimal control approaches that can deal with current disturbances and model uncertainties; (3) study and analyze the adaptability of the cooperative optimal control mechanism when the communication network is constrained and unreliable, and propose corresponding control strategies; (4) conduct experimental and implementation research. This project belongs to applied basic research and has potential applications in developing multiple AMV systems as well as effectively exploiting marine resources.

自主海洋航行器是进行海洋开发利用和维护海洋权益的重要工具。目前，协同控制技术是发展自主海洋航行器的关键技术之一，已成研究热点，但主要研究都集中在非优化方式，不能满足获取优化控制性能的实际要求。本项目针对在复杂海洋环境中作业的异构自主海洋航行器网络系统，将多智能体协同优化控制的基本方法拓展到这类非线性网络化大系统之中，推动自主海洋航行器协同控制技术的研究进程。主要内容包括 （1）研究理想条件下异构自主海洋航行器网络的协同优化控制问题，并建立基本的方法；（2）研究协同优化控制机制对外界干扰的鲁棒性，并提出异构自主海洋航行器网络在洋流干扰和参数不确定情况下的协同优化控制方法；（3）研究和分析协同优化控制机制对通讯受限网络的适应性，并提出相应的控制策略；（4）开展实验和应用研究。本项目属于应用基础研究，研究成果在发展多海洋航行器作业系统以及进行高效的海洋开发利用等方面具有重要的应用前景。

自主海洋航行器组网系统可以广泛应用于海洋侦查、海难搜救、海洋考古等。本项目针对多异构自主海洋航行器在复杂环境中的协同优化控制问题进行了研究，主要研究内容包含：欠驱动自主海洋航行器的优化控制，受约束异构自主海洋航行器群的协同优化控制理论，外界干扰下异构自主海洋航行器群的协同优化控制以及通信受限下的海洋航行器群协同控制，提出了欠驱动自主海洋航行器的预测优化控制新方法，以及一套复杂环境下受约束异构自主海洋航行器群协同优化控制的理论方法，并进行了仿真实验研究，验证了方法的有效性。取得的研究成果不但完善了异构多智能体的协同预测优化控制理论，而且对设计自主海洋航行器组网系统的协同优化控制器具有重要的指导意义。