不确定随机非线性多智能体系统的模糊自适应输出反馈控制

In the practical application of multi-agent system, there are always various kinds of uncertainties, stochastic factors and so on. However, the study on the adaptive output-feedback control problem of stochastic nonlinear multi-agent systems is still in the primary stage. By combing the adaptive fuzzy control technique and the distributed features of multi-agent system, the following issues are mainly considered: .1. The distributed adaptive fuzzy output-feedback control scheme is proposed for stochastic nonlinear multi-agent systems with unmeasured states and nonlinear inputs..2. This project will investigate the adaptive fuzzy output-feedback fault-tolerant control for a class of stochastic nonlinear multi-agent systems with unmeasured states and actuator failures. .3. The problem of prescribed performance adaptive fuzzy output-feedback control for stochastic nonlinear multi-agent systems is considered, which makes the consensus errors satisfy the predefined performance indexes (transient and steady-state performance). .The research of this project will lay a theoretical foundation for the development and improvement of distributed coordinated control of nonlinear multi-agent system. It can be expected that the theoretical results have potential application value in various engineering fields, such as cooperative control of multiple flexible-joint robots, etc.

在多智能体系统的实际应用中，总是不可避免地存在各种不确定性、随机因素等。但与之相关的随机非线性多智能体系统自适应输出反馈控制研究尚处于起步阶段。本项目将利用模糊自适应控制技术和多智能体系统分布式特点，主要开展以下内容的研究：1. 针对状态不可测及存在非线性输入条件下的随机非线性多智能体系统，提出合理的分布式模糊自适应输出反馈控制方案；2. 针对一类状态不可测的随机非线性多智能体系统，考虑某些智能体可能出现执行器故障，研究模糊自适应输出反馈容错控制；3. 考虑多智能体系统一致性误差的瞬态性能和暂态性能，设计模糊自适应输出反馈控制方案，实现随机非线性多智能体系统的指定性能控制。该项目的研究将为非线性多智能体系统分布式协调控制发展和完善奠定理论基础，其理论成果在多柔性关节机械臂合作控制等工程领域具有潜在的应用价值。

本项目针对不确定随机非线性多智能体系统及不确定受限非线性系统，根据模糊逻辑系统逼近性质、自适应控制方法和观测器技术等，研究了闭环控制系统的分析与综合问题，获得了一些较高水平的研究成果。主要的研究内容为：1. 利用backstepping设计方法、命令滤波技术等，提出了随机非线性多智能体系统的分布式控制算法，分析了多智能体系统的稳定性和收敛性等问题；2. 针对具有饱和输入/量化输入/执行器故障的不确定非线性系统，提出了改进的命令滤波反步控制方案，实现了相应系统的有限时间输出跟踪控制问题；3. 针对几类具有输出约束及状态约束的不确定非线性系统，基于指定性能函数、障碍Lyapunov函数等理论，提出了具有指定性能/状态受限的有限时间自适应输出反馈控制方案。本项目的研究成果在IEEE汇刊《IEEE Transactions on Fuzzy Systems》、《IEEE Transactions on Systems, Man, and Cybernetics: Systems》、《IEEE Transactions on Circuits and Systems I: Regular Papers》等发表和录用论文6篇；在《Information Sciences》、《International Journal of Robust and Nonlinear Control》、《SCIENCE CHINA Information Sciences》等国际、国内权威期刊上发表和录用论文11篇；在国际会议上发表论文2篇。