基于事件触发机制的非线性网络化随机系统的控制与滤波

In this project, the event-triggered control and filtering problems are investigated for networked nonlinear stochastic systems. The incomplete information caused by the network devices with limit capacity or the external stochastic disturbances is fully discussed and the nonlinear and stochastic factors as well as their variety laws are studied deeply. Then the kinetic model with measurement model is established that is capable of representing the networked-induced incomplete information and nonlinear and stochastic natures of the systems under consideration. Various event-triggered mechanisms are analyzed and their features are also discussed in detail including the advantage and disadvantage when the event-triggered mechanisms are applied in the control and filtering problems. After that, we investigate the problems of analysis and synthesis for the nonlinear stochastic event-triggered controller and filter in the networked environment. Based on it, the event-triggered control and filtering approaches are further developed to solve the consensus control problem for the multi-agent systems and the distributed filtering problem in sensor networks. Finally, the results obtained are demonstrated in experimental platform which is established for the study of the localization problem for multiple mobile robots. The research results derived in this project are of a great significance both in theory and application prospect.

本项目研究基于事件触发机制的非线性网络化随机系统的控制与滤波问题。充分考虑在网络化环境下由于受到物理设备限制或外加随机扰动而引起的信息不完全现象，深入研究网络化系统中的多种非线性和随机因素的发生及其变化规律，建立起能反映由网络化引起的不完全信息、非线性和随机等特性的动力学模型以及信息测量方程；系统分析事件触发机制的原理，详细讨论各类事件触发机制的特点及其在控制与滤波问题中的优势与缺陷，针对系统的随机非线性特性，研究在网络化环境下基于事件触发机制的非线性随机控制器和滤波器的分析与设计问题；在此基础上进一步考虑多智能体系统和传感器网络中的控制与滤波问题，利用发展的基于事件触发机制的控制与滤波方法解决多智能体系统中的一致性控制和无线传感器网络中的分布式滤波问题；最后将本项目所得到的理论成果在针对移动机器人定位问题的模拟实验装置平台上进行验证。本课题的研究成果具有重要的理论意义和广泛的应用前景。

本项目研究基于事件触发机制的非线性网络化随机系统的控制与滤波问题。充分考虑在网络化环境下由于受到物理设备限制或外加随机扰动而引起的信息不完全现象，深入研究网络化系统中的多种非线性和随机因素的发生及其变化规律，建立起能反映由网络化引起的不完全信息、非线性和随机等特性的动力学模型以及信息测量方程；系统分析事件触发机制的原理，详细讨论各类事件触发机制的特点及其在控制与滤波问题中的优势与缺陷，针对系统的随机非线性特性，研究在网络化环境下基于事件触发机制的非线性随机控制器和滤波器的分析与设计问题；在此基础上进一步考虑多智能体系统和传感器网络中的控制与滤波问题，利用发展的基于事件触发机制的控制与滤波方法解决多智能体系统中的一致性控制和无线传感器网络中的分布式滤波问题；最后整合获得结果，并在针对移动机器人定位问题的模拟实验装置平台上进行验证。在本项目资助下，申请发明专利10项，授权2项；培养博士研究生4名；发表期刊会议论文34篇，其中SCI论文27篇，有6篇发表在控制学科顶级期刊IEEE Transactions on Automatic Control 和 Automatica 上，其他IEEE 汇刊论文2篇。