自我感知功能失效下多智能体系统的容错一致性研究

Consensus problems of multi-agent systems have wide applications in civil and military fields. However, in real applications, sensors of an agent might fail due to mechanical faults, circuit faults or other factors such that the agent cannot measure its own state information any more, which means that the agent suffers from self-sensing function failure. While suffering from self-sensing function failure, an agent cannot be controlled in the way of closed loop, which might destroy the connectivity of communication networks among normal agents, resulting in the failure of the whole systems to achieve consensus. Therefore, it is necessary to study fault-tolerant consensus of multi-agent systems under self-sensing function failure. This project plans to carry out the systematic research on fault-tolerant consensus of multi-agent systems under self-sensing function failure from four aspects of system structure of an agent (single/ double-integrator system), system environments (excluding/ including communication delay), control modes (continuous/ sampling control) and the styles of self-sensing function failure (synchronous/ asynchronous one), design corresponding fault-tolerant consensus protocols, and derive conditions guaranteeing multi-agent systems to achieve consensus. This project belongs to the application-oriented theory research, might provide the reliability basis for the real application of the consensus problems of multi-agent systems, and might seek the new vitality for the reliability issues of control systems.

多智能体系统一致性问题在民用与军用领域均有着广泛的应用，但在实际应用中，智能体的传感器可能由于机械与电路故障或其它原因而失效，使得智能体不能再测量到自己的状态信息，即智能体发生自我感知功能失效。自我感知功能失效的发生，不仅使得失效智能体本身无法实现闭环控制，而且可能破坏正常智能体之间通信网络的连通性，进而导致整个系统无法实现一致性。因此，有必要研究自我感知功能失效下多智能体系统的容错一致性问题。本项目从智能体的系统结构（单/双积分系统）、系统环境（不含/包含通信时滞）、控制方式（连续/采样控制）、自我感知功能失效（同步/异步自我感知功能失效）等四个方面对自我感知功能失效下多智能体系统的容错一致性问题开展系统性研究，设计相应的容错一致性协议，分析多智能体系统实现一致性的条件。本项目属于应用基础研究，为多智能体系统一致性问题在实际中的应用提供可靠性基础，为控制系统的可靠性问题寻找新的发展生机。

针对智能体在复杂实际应用场景中由于自定位系统失效而无法获取自身状态信息进而导致自我感知功能失效的问题，开展了自我感知功能失效下多智能体系统的容错一致性问题研究。重点研究了同步自我感知功能失效下单积分多智能体系统的容错渐进一致性、同步自我感知功能失效下单积分多智能体系统的容错有限时间一致性、同步自我感知功能失效下双积分多智能体系统的容错渐进动态一致性、同步自我感知功能失效下双积分多智能体系统的容错有限时间动态一致性、异步自我感知功能失效下单积分多智能体系统的容错渐进一致性、异步自我感知功能失效下单积分多智能体系统的容错有限时间一致性、异步自我感知功能失效下双积分多智能体系统的容错渐进动态一致性、异步自我感知功能失效下双积分多智能体系统的容错有限时间动态一致性等科学问题。同时，围绕与本项目紧密相关的研究内容，开展了虚假信息注入攻击下多智能体系统的容错一致性、重放攻击下多智能体系统的容错一致性、多智能体系统的固定时间一致性跟踪、多智能体系统的分布式平均跟踪、多智能体系统的时变编队控制、网络化控制系统的状态与故障联合估计等科学问题研究。针对单积分多智能体系统与双积分多智能体系统，针对渐进收敛一致性与有限时间一致性，针对同步自我感知功能失效与异步自我感知功能失效等情况，提出了具有共性的网络拓扑连通性恢复策略、具有共性的容错一致性协议设计策略以及具有共性的容错一致性收敛分析方法。同时，针对不同具体情况，提出了相应的具体的网络拓扑连通性恢复策略、具体的容错一致性协议设计策略以及具体的容错一致性收敛分析方法。本项目所获得的研究结果不仅丰富了多智能体系统的分布式协同控制理论，拓展了控制系统的可靠性与安全性问题的研究范围，同时有望应用在复杂环境下的无人驾驶、智能消防、智能搜救等民用领域以及复杂环境下基于无人机群的目标跟踪与目标打击等军用领域。