多变量多态性能约束下网络化关联非线性系统分散协同控制及应用

In networked large-scale interconnected systems, the information is transmitted by wired/wireless networks. The physical state variables of engineering subsystems have many performance restriction requirements. The performance constraints and complex network transmission environment bring new challenges for the design of large-scale system. This project will focus on the cooperative control of networked large-scale interconnected systems with multi variables and multi-performances constraints. The theoretic achievements will apply to the multi-robot teleoperation design. First, a new interconnected stochastic nonlinear system model with time delay will be constructed with the consideration of the complex network environment parameters and the nonlinear interconnections. Second, the state-feedback cooperative control problem will be investigated for networked interconnected large-scale systems with multi-variables and multi-state performances constraints. New BLF and the corresponding cooperative control schemes will be proposed to guarantee the performances of low overshoot, fast convergence and high precision for state variables. Furthermore, the state observer and output-feedback control protocols with constraints on multi-variables and multi-state performances will be proposed to realize the effective cooperative control with partial state available. Finally, the research results will be applied to the high precision control for networked multiple robots teleoperation systems. The novel controllers will be proposed for master-slave robot with constraints on velocities and synchronization errors to guarantee the improved transparency and safety-operation performances. With the above research achievements, we aim to establish the fundamental research framework for the constrained control of networked nonlinear interconnected systems. The achievements will provide theoretical support for telesurgery, nuclear accident and some other practical teleoperation applications.

网络化大系统中信息交互通过有线/无线网络进行，工程子系统物理状态变量存在诸多约束性能要求,多变量多性能约束与网络传输复杂性给大系统设计提出了新的挑战。本项目聚焦于研究多变量多态性能约束下网络化关联大系统的协同控制问题，并将结果应用于多机器人遥操作设计。首先建立融合网络环境参数和关联结构多样性的随机时变时滞非线性大系统模型；其次研究多变量多态性能约束下网络化关联大系统的状态反馈问题，构造新的BLF并提出相应协同控制方法，确保变量具有低超调，快收敛和高精度要求；进一步构建约束观测器并提出多变量多态性能约束下动态输出反馈控制策略，实现状态不完全可测下有效协同控制；最后将研究结果应用于多机器人高精遥操作，在速度和同步误差等变量受限情形下提出主从机器人控制策略，确保系统好的透明性和安全操控性。研究结果奠定变量约束下非线性大系统协同控制理论基础，有望为远程手术、空间探测等遥操作应用领域提供理论支撑。

多变量多性能约束与网络传输复杂性给网络化大系统设计提出了新的挑战。本项目聚焦于研究多变量多态性能约束下网络化关联大系统的协同控制问题，并将结果应用于多机器人遥操作系统。首先建立了融合网络环境参数和关联结构多样性的随机时变时滞非线性大系统模型；其次研究了多变量多态性能约束下网络化关联大系统的状态反馈问题，构造了新的BLF并提出相应协同控制方法，确保变量具有低超调，快收敛和高精度要求；进一步构建了约束观测器并提出了多变量多态性能约束下动态输出反馈控制策略，实现了状态不完全可测下有效协同控制；最后将研究结果应用于多机器人高精遥操作和四旋翼系统，在综合考虑系统的稳态性能、暂态性能和操控性能情形下提出控制器设计策略，确保系统的稳定性和高性能性。研究结果为变量约束下非线性大系统的协同控制奠定了理论基础，为远程手术、空间探测等遥操作应用领域提供了理论支撑。该项目共发表 SCI 期刊论文70篇，其中IEEE Trans. on Automatic Control 3篇，Automatica 4篇，IEEE Trans 汇刊 26篇。