不确定异质多智能体系统的一致性协调控制

Recently, more and more attention has been paid to the coordination control problem for multi-agent systems; however, the study on the related problems for heterogeneous multi-agent systems with uncertainty is still in the primary stage. In this project, leaderless and leader-following heterogeneous multi-agent systems with uncertainty will be studied in a distributed coordination framework. The heterogeneity of agents’ dynamics and the properties of uncertain information will be fully considered; and effective disturbance observers, adaptive estimation algorithms as well as distributed control laws will be designed. Some necessary and sufficient conditions or sufficient conditions will be obtained for guaranteeing the consensus of heterogeneous multi-agent systems with uncertainty. Focusing on the heterogeneous multi-agent systems with uncertainty, this project aims to improve the existing results, explore new problems and obtain a series of theoretical results. The project is closely related to the hot topics in the coordination control of multi-agents systems, and relevant results can be applied in the formation control of mobile robots and the traffic network control, etc. It can be expected that the study on this project will be the theoretical founfation of coordiantion control in multi-agent systems.

近年来，多智能体系统的协调控制受到了广泛关注，但与之相关的不确定异质多智能体系统的一致性问题研究尚处于起步阶段。本项目拟针对几类具有不确定性的无领导者和有领导者的异质多智能体系统，充分考虑智能体的异质性和不确定信息对一致性的影响，在分布式协调控制框架下研究其一致性问题，提出有效的扰动观测器和自适应估计算法，设计分布式一致性控制算法，得到不确定异质多智能体系统实现一致性的充要条件或充分条件。本项目旨在针对受不确定信息影响的异质多智能体系统一致性问题，改进现有的成果并探讨新的问题，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控制这一控制科学领域的热点问题，其理论成果可应用在移动机器人编队控制、交通网络控制等工程领域。可以预期，该项目的研究将为多智能体系统协调控制理论的发展和完善奠定一定的理论基础。

多智能体系统的分布式一致性是当今控制理论及应用领域的热点研究问题之一。本项目就多智能体系统的一致性相关问题，分别针对：零阶保持的采样异质多智能体系统组一致性问题、混合阶异质多智能体系统组一致性问题、具有未知动力学的非线性异质多智能体系统的跟踪控制问题和多智能体系统的包含控制问题等开展了相关的研究工作，提出相应的分析设计方法，设计基于邻居信息的分布式控制算法(协议)，研究对不确定信息的处理方法，研究多智能体系统实现组一致性或鲁棒一致性的充要或充分条件，并对所得结果进行数值仿真实验，得到了一系列较成体系的理论成果。