广义异质多智能体系统的协调输出一致研究

Consensus problems for multi-agent systems have attracted a great deal of attention recently; however, the study on the related problems of singular heterogeneous multi-agent systems is still in the primary stage. In this project, leaderless and leader-following singular heterogeneous multi-agent systems with several different types of agent dynamics will be studied under a consensus framework. The property of singular systems and heterogeneous systems will be fully considered and the effective distributed control method will be obtained. The necessary and sufficient conditions or the sufficient conditions of the cooperative output consensus will be given and the easily checked design method of the controller will be given. Focusing on the subject of cooperative control in heterogeneous multi-agent systems, the aim of this project is to improve the existing results and discuss the new problems, and obtain a series of theoretical results. The project is fully related to the hot topic of the cooperative control in multi-agent systems, and the theoretical results have potential applications in various engineering files, such as sensor networks, cooperative control of mobile robots, formation of unmanned aerial vehicle, etc. It can be expected that the research of this project will be the theoretical foundation of cooperative control in multi-agent systems.

近年来，多智能体系统的协调一致问题受到了广泛的关注，但与之相关的广义异质多智能体系统的协调输出一致问题研究尚处于起步阶段。本项目拟针对几种具有不同智能体动态的无领导者和追随领导者的广义异质多智能体系统，充分考虑异质系统和广义系统的本质特性，在分布式协调控制框架下研究其输出一致问题，提出有效的分布式控制协议，得到广义异质系统达到协调输出一致的充要条件或是充分条件，获得易检测的控制器设计方法。本项目旨在针对异质多智能体系统协调输出一致问题，改进现有的成果并探讨新问题，得到一系列较成体系的理论成果。本项目选题紧绕多智能体系统的协调一致这一控制科学领域的热点问题，其理论研究成果在传感器网络、多机器人合作控制、无人机编队等多种工程领域具有潜在的应用价值。可以预期, 该项目的研究将为多智能体系统协调控制的发展与完善奠定理论基础。

多智能体系统分布式协调一致是当今控制领域的热点问题。本项目围绕异质多智能体系统的协调控制问题，分布针对：具有线性动态的异质多智能体系统的输出一致、广义异质多智能体系统的分布式输出调节、具有未知控制方向的高阶智能体系统协调控制、具有非线性动态的多智能体系统组一致、非线性多智能体系统的分布式协调控制问题等，展开了具体研究，提出了新的分析与设计方法，设计了基于分布式信息的控制协议，获得系统达到协调输出一致的充要及充分条件，得到一系列较成体系的研究成果。