基于采样的混合阶多自主体系统协调控制研究

The studies on the coordination control of distributed multi-agent systems in the complex environment have become an importance research field. With the restrictions of the channel bandwidths in the communication systems and the physical property in the digital equipments, the sampled controls are used in the practical engineering to improve the control accuracy and the anti-jamming capability. Since the complex of the practical environment, the distributed multi-agent systems will show the individual diversity with the difference agents, where some agents are illustrated with the integer-order dynamics and the others are described with the fractional-order dynamics. Therefore, it is better for holding the dynamics characteristic of the complex systems to develop the studies on the coordination control of the distributed compounded-order multi-agent systems with sampled-data, and it has importance significance to guide the engineering application in the practice. .In this research project, by applying the generalized fractional-order difference operator and the Nyquist criteria, the stabilities of the compounded-order multi-agent systems will be analyzed. The sampled control of the formation of the delayed multi-agent systems will be investigated by using the methods of the time-delay robustness in fractional-order systems and Lypunov function in the complex domain. By analyzing the noises and the errors, the interference signals in the systems are separated and classified, and the composite hierarchical anti-disturbance controls of multi-agent systems with multiple disturbances will be built. With the help of the theories of the Kalman filter and the technologies of the convex hull, the formation control of the distributed systems with multi-rate sampled-data will be discussed by designing the distributed digital controller, and the theoretical system of the coordination control for the distributed compounded-order multi-agent systems with non-uniformly periodically sampled-data will be established.

受数字设备的物理属性和通信信道带宽的限制，在实际工程中，应用采样控制来提高系统的控制精度和抗干扰能力。由于环境的复杂性，多自主体存在个体差异，有些个体可用整数阶微分方程描述，而有些个体只能用分数阶（非整数阶）微分方程表示。因此，开展基于采样的混合阶（整数阶、分数阶）多自主体系统协调控制的研究能更好地把握复杂系统的动力学特性，对实际应用具有重要的指导意义。.本项目应用广义分数阶算子和Nyquist判据，分析混合阶多自主体系统的稳定性；应用分数阶时滞鲁棒控制和复Lypunov函数方法，研究具有时延的混合阶多自主体系统编队的采样控制。通过对噪声和误差进行分析，将来自内部、外部和建模的干扰信号分离和分类，建立具有多源干扰的多自主体系统的复合分层抗干扰控制。应用卡尔曼滤波和凸包含技术，研究具有多率采样的多自主体系统编队控制；设计分布式数字控制器，建立基于采样的混合阶多自主体系统协调控制的理论体系。

本项目主要研究了基于采样的混合阶（整数阶、分数阶）多自主体系统协调控制。应用广义分数阶算子和Nyquist 判据，分析了混合阶多自主体系统的稳定性；应用分数阶时滞鲁棒控制，研究了具有时延的混合阶多自主体系统编队的采样控制。通过对来自内部、外部和建模的干扰信号分离，建立了具有多源干扰的多自主体系统的分层抗干扰控制。应用现代控制理论和离散Lypunov函数方法，研究了具有采样的多自主体系统编队控制。应用复杂网络理论和网络拓扑联合联通思想，研究了动态不连通切换网络的多自主体系统的协同控制与包容控制等问题，构建了基于采样的混合阶分布式多自主体系统编队控制的理论体系。