基于网络化内模的非线性多自主体系统的输出同步

In the last few years, the internal model approach based on output regulation theory has been successfully developed and applied in the cooperative control of multi-agent systems. It provides a novel and systematic tool for analyzing and tackling such kind of cooperative control problems arising in multi-agent systems. Most existing results on this topic have been given for linear and isolated multi-agent systems. For the more complex nonlinear and strongly coupled multi-agent systems, the problem is much more challenging and needs further studies. For this purpose, this project is to investigate a typical and basic cooperative control problem of output synchronization for a class of nonlinear and strongly coupled multi-agent systems taking an output-feedback normal form. The problem is studied based on a networked internal model and a two-level network based distributed output feedback control. Some illustrative examples are also studied by using the proposed theoretical methods. First, the output synchronization problem is converted into an output regulation problem. Second, a networked internal model is designed for the plant dynamics. Third, the output feedback stabilization is handled for the augmented system which is composed of the plant and the networked internal model. The solution of the related augmented system's stabilization realizes the output synchronization. The study of this project provides a novel method and theoretical support on handling the cooperative control of nonlinear multi-agent systems and its applications.

最近几年，基于输出调节理论的内模方法在多自主体系统的一致性控制问题中，获得了成功地发展和应用，为此类问题的分析与求解，提供了一种全新的系统化的工具。现有的相关研究成果大多是针对线性和孤立多自主体系统，对于更复杂的非线性、强关联多自主体系统，其一致性问题更具理论和应用价值，也更有挑战性，亟待发展和完善。为此，本项目拟针对一类具有输出反馈标准型的非线性、强关联多自主体系统，以一类典型的、基本的一致性问题-输出同步控制问题为目标，研究基于网络化内模的、具有双层网络结构的分布式输出反馈控制方法以及若干应用问题。首先，输出同步问题可以等价地转化为输出调节问题；其次，针对被控对象，设计一种新型的网络化内模；最后，针对由被控对象和网络化内模构成的增广系统，考虑输出反馈镇定控制设计，其可解性可实现输出同步的控制目标。本项目研究，为非线性多自主体系统的一致性问题的求解和应用推广，提供了新的方法和理论支持。

本项目以输出调节理论为基础，发展基于内模方法的非线性多自主体系统的输出同步控制问题研究。 重点针对一类具有输出反馈标准型的非线性、强关联多自主体系统，以一类典型的、基本的一致性问题-输出同步控制问题为目标，研究基于网络化内模的、具有双层网络结构的分布式输出反馈控制方法以及若干应用问题。首先，输出同步问题可以等价地转化为输出调节问题；其次，针对被控对象，设计一种新型的网络化内模；最后，针对由被控对象和网络化内模构成的增广系统，考虑输出反馈镇定控制设计，其可解性可实现输出同步的控制目标。本项目研究，为非线性多自主体系统的一致性问题的求解和应用推广，提供了新的方法和理论支持。以此为背景，阐述了若干新的理论和应用研究课题。