高阶非匹配非线性多智能体系统事件触发一致性控制研究

Unmached nonlinear system can describe a large class of physical systems. Event-triggered control can save computing and communication resources while ensuring the system performances. Thus, it is significant to consider the event-triggered consensus control for high-order unmached nonlinear multi-agent systems in both theoretical and practical. However, the current reaserches on event-triggered control mainly focuse on linear or mached nonlinear systems. Based on which, this project focuses on the event-triggered consensus control problem for high-order unmached nonlinear multi-agent systems. Firstly, a novel event-triggered controller design method based on state feedback is established such that the influences of high order unmatched nonlinearity on event-trigger control strategy is revealed. Secondly, the event-triggered control problem with transient-state and steady-state constraints is studied and then, a state-feedback event-triggered controller is designed to provide some high performances like low overshoot, finite time convergence and high accuracy. Furthermore, a output feedback event-triggered control approach is proposed to realize the consensus with incomplete measurable states, which can also reduce the communication costs. Finally, a new finite-time event-triggered controller based on output feedback is proposed and thus, the good system transient and steady performances are obtained on the basis of maintaining low communication costs. Theoretical supports will be provided for the cooperative control of actual engineering system.

非匹配非线性系统能够刻画一大类实际物理系统，事件触发控制能在保证系统性能的同时节约计算与通信资源，因此针对高阶非匹配非线性多智能体系统事件触发控制问题的研究具有重要的理论和实际意义。然而，现有的事件触发控制研究成果大都集中于线性/匹配非线性系统。基于此，本项目聚焦于研究高阶非匹配非线性多智能体系统的事件触发控制问题。首先，建立基于状态反馈的事件触发控制器设计方法，揭示系统高阶非匹配非线性对触发控制策略的影响。其次，研究暂稳态性能约束下的事件触发控制问题，提出确保系统误差满足低超调、高精度、有限时间收敛的状态反馈事件触发控制器。进一步，研究基于系统输出的事件触发控制方案，实现状态不完全可测下的有效一致性，并减少通信维数，降低通信代价。最后，构建基于输出反馈的有限时间事件触发控制器，在保持较低资源消耗基础上获取较高的系统暂稳态性能。通过本项目的研究，为实际工程系统的协同控制提供必要的理论支撑。

非匹配非线性系统能够刻画一大类实际物理系统，事件触发控制能在保证系统性能的同时节约计算与通信资源，针对高阶非匹配非线性多智能体系统事件触发控制问题的的研究具有重要的理论和实际意义。本项目考虑暂稳态性能约束，融合单个复杂非线性系统控制和事件触发控制的基本控制思想和先进成果，从状态反馈控制和输出反馈控制两个层面出发，研究高阶非匹配非线性多智能体系统的事件触发控制问题。首先，建立基于事件触发机制的状态反馈一致性控制器设计的新方法；其次，研究暂稳态性能约束下高阶非匹配非线性多智能体系统事件触发一致性控制问题，提出基于状态反馈和输出反馈的的有限时间事件触发一致性控制策略。最后，综合考虑系统暂稳态性能约束和状态不可测问题，提出能保证系统一致性误差有限时间收敛的动态输出反馈事件触发控制策略。研究成果将在理论方面丰富和发展复杂非线性多智能体系统的事件触发控制理论，同时更易应用于工程实际，有望为实际工程系统的协同控制提供强有力的理论支撑。在本项目的资助下，共发表（含录用）论文17篇，其中SCI收录14篇，申请并授权实用新型专利1项。