带宽受限耦合非线性多自主体网络小增益控制方法研究

The coordinated control problem of the coupled nonlinear multi-agent network has been a hot research topic in the control field. But the results did not fully consider the performance of the coupled nonlinear multi-agent systems affected by the signal quantization and the network deterioration,which hinders the further improvement of the system reliability. This project studies this problem based on the small gain theory.It explores the internal action rules and the effect of the overall stability of the coupled nonlinear multi-agent systems affected by the signal quantization and network deterioration.Considers the coupled nonlinear multi-agent systems influenced by the network communication quantization, explore the conditions of input-to-state stability (ISS) and input-to-output stability (IOS) of each agent, establish a quantization parameters dependent nonlinear small gain theorem, and then propose the design scheme of quantized coordination controller； For the multi-agent systems affected by the network communication quantification and the network deterioration at the same time, establish the quantization parameters and the coupling parameters dependent nonlinear small gain theorem, put forward the dual design scheme of the network coupling strength adjustment law and the quantized coordination controller; Analyze and build the system model of the multiple remote sensing robots to verify the proposed method of the small gain based coordinated control. The result of the project will enrich and perfect the multi-agent systems theory, and provides a feasible scheme to solve the control problem of actual system.

耦合非线性多自主体网络的协调控制问题已经成为控制界的研究热点。但目前的成果没有充分考虑信号量化及网络恶化对耦合非线性多自主体系统性能的影响，因而阻碍了该系统可靠性的进一步提高。本项目基于增益理论对该问题进行研究，探索网络通信量化及网络恶化对耦合非线性多自主体系统的内部作用规律以及对整体稳定性的影响。考虑通信量化影响的耦合非线性多自主体系统，寻求各自主体输入到状态稳定性（ISS）及输入到输出稳定性(IOS)条件，建立量化参数依赖的非线性小增益定理，提出量化的协调控制器设计方案；针对通信量化及网络恶化同时存在的多自主体系统，建立量化及耦合参数依赖的非线性小增益定理，提出网络耦合强度调节律和量化的协调控制器的双重设计方案；分析并建立多遥感机器人系统模型，对所提出的小增益协调控制方法进行验证。项目所取得的成果将丰富和完善多自主体系统理论，同时为解决实际系统的控制问题提供可行的方案。

耦合非线性多自主体网络的协调控制问题已经成为控制界的研究热点。但目前的成果没有充分考虑信号量化及网络恶化对耦合非线性多自主体系统性能的影响，因而阻碍了该系统可靠性的进一步提高。本项目基于增益理论对该问题进行研究，探索网络通信量化及网络恶化对耦合非线性多自主体系统的内部作用规律以及对整体稳定性的影响。针对具有量化和随机丢包或时滞的网络控制系统，基于小增益了理论，建立新的量化丢包或量化时滞网络控制系统模型，在该模型的基础上，进行研究，分别给出量化的控制器及滤波器设计方案。分别针对线性和非线性多智能体系统或复杂网络中具有量化，丢包、时滞以及故障问题，引入自适应机制，给出了协调及同步控制器的设计方法，补偿网络量化、丢包或时滞以及故障对系统造成的负面影响。项目所取得的成果将丰富和完善多自主体系统理论，同时为解决实际系统的控制问题提供可行的方案。