基于观测器的受到未知干扰的非线性多智能体一致性研究

How to get the agent state is a basic problem in the research field of cooperative control of multi-agent systems. However, in actual networked systems, because of the cost and other factors, the agent state cannot be obtained directly，and thus make the protocol, which is based on state, not applicable in practice. By refactoring state, the observer can estimate the real system state. So the observer based control strategy is very suitable for solving the design problem of consensus protocol of multi-agent systems, which state cannot be obtained. Within a more general network topology structure, this project investigates the problem of observer based consensus control and application of nonlinear multi-agent systems with unknown external disturbances. First, based on adaptive nonlinear damping and the event based transmission strategy, an unknown input nonlinear observer is designed for each agent. Then, a consensus control protocol is presented to achieve the state consensus of the multi-agent systems by applying the estimated information of the nonlinear unknown input observers. Finally, the network load minimization model based on the consensus condition is established to address the collaborative design problem of control parameters and observer parameters. The completion of this project will enrich and develop the theory of observer-based consensus protocol design of nonlinear multi-agent systems, and will effectively overcome that the traditional continuous state control strategy is difficult to apply directly to the actual networked systems.

如何获得智能体的状态是多智能体协调控制研究中的基本问题。但是在实际的系统中，由于成本等因素，智能体的状态不能被直接得到，这导致基于状态的控制协议不能被直接应用。观测器能够通过重构状态来估计系统的实际状态。因此，基于观测器的控制策略适用于解决状态不能全部获得的多智能体一致性控制及应用问题。本项目针对一类受到未知干扰的非线性多智能体系统，研究基于观测器的一致性控制问题。首先，通过利用自适应非线性阻尼项消除未知干扰对观测器的影响，利用事件触发机制设计观测器的输出规则，解决观测器的设计问题。然后，基于观测器的状态估计信息和输出规则，设计一致性的控制策略，获得一致性的充分条件；最后，基于所获得的一致性条件，构建网络负载最小化模型，解决控制器的参数和观测器的参数的协同设计问题。本项目的完成将丰富和发展基于观测器的非线性多智能体系统一致性协议设计问题，克服传统状态控制难以直接应用到实际网络化系统的不足。

本项目的主要究内容包括三个部分：（1）我们研究了具有受到未知干扰的多智能体一致性控制； （2）我们研究了具有未建模动力学行为的多智能体一致性；（3）我们研究了基于事件触发控制且带有降阶观测器的多智能体网络一致性。通过本项目研究建立了一系列一致性控制策略和算法，并得到相应的观测器设计条件和非线性多智能体系统实现一致性控制的充分条件，部分成果已经成功应用的到多智能体系统在移动机器人编队、无人飞机编队上。因此，本项目成果可以为一些实际问题理论基础和技术支持，如多智能体系统在移动机器人编队、无人飞机编队，智能交通、现代医疗、勘探、营救等。