多智能體系統(tǒng)（給定）有限時間控制問題研究
發(fā)布時間：2018-10-24 07:23
【摘要】：大規(guī)�；W絡系統(tǒng)具有復雜動特性,其控制問題既十分重要又極具挑戰(zhàn)性。傳統(tǒng)的集中式控制(Centralized Control)方法已經很難滿足復雜大系統(tǒng)實現協(xié)調、穩(wěn)定、高效運行的要求。不同于傳統(tǒng)的集中式控制方法,分布式控制(Distributd Control)方法具有所用信息量少,協(xié)作性好,靈活性高,可擴展性強等諸多優(yōu)點,旨在只有局部通信而沒有中央調控條件下各子系統(tǒng)通過局部耦合協(xié)調合作來達到整體共同目標,因此是大規(guī)模網絡化局部信息交互系統(tǒng)控制機構的理想選擇,近年來已被廣泛應用于衛(wèi)星姿態(tài)控制,智能交通系統(tǒng),大規(guī)模電力調度等領域。協(xié)同一致性(Cooperitive Consensus)問題是網絡化多智能體系統(tǒng)(Networked Multi-agent Systems,NMAS)分布式控制研究中最基本的問題,是解決其他分布式控制問題的基礎。如何保證復雜多智能體系統(tǒng)在盡可能弱的通訊拓撲條件下實現高穩(wěn)定度、高精度、高速度收斂是研究多智能體系統(tǒng)一致性問題的重點和難點。本文緊緊圍繞:a)帶有復雜不確定性因素的非線性多智能體系統(tǒng)的自適應有限時間一致性控制問題;b)多智能體系統(tǒng)的給定有限時間一致性控制問題,展開研究,主要完成了以下創(chuàng)新性工作:有限時間一致性控制(1)針對單向通訊拓撲條件下二階非線性多智能體系統(tǒng)有限時間一致性控制問題,通過構造一個新的Laplacian矩陣并通過嚴格的理論分析證明得出該矩陣的一個重要性質,將該矩陣引入合適的Lyapunov候選函數中,提出了適用于單向通訊網絡下非線性多智能體系統(tǒng)的分布式自適應有限時間一致性控制算法。該方法解決了現有有限時間控制理論幾乎無法對其進行嚴格解析分析的理論難題。在此基礎上,將上述有限時間穩(wěn)定性分析方法進一步推廣應用到該系統(tǒng)的編隊-合圍控制問題中,解決了單向拓撲條件下二階非線性多智能體系統(tǒng)的連續(xù)有限時間編隊-合圍問題。(2)針對同時具有未知時變控制增益,不可線性參數化分解的不確定非線性因素以及未知不可測執(zhí)行器故障的二階復雜非線性多智能體系統(tǒng),研究了其在單向通訊拓撲下的有限時間一致性控制問題,結合加冪積分技術,核心函數技術以及自適應方法,設計出了基于分數階狀態(tài)反饋以及分數階自適應律的容錯有限時間一致性控制算法,通過引入虛擬參數估計誤差以及局部滑膜誤差的概念,巧妙構造了Lyapunov候選函數,給出了系統(tǒng)有限時間穩(wěn)定性的嚴格理論分析與證明,從而解決了對存在未知時變控制增益以及未知不可測執(zhí)行器故障條件下復雜多智能體系統(tǒng)有限時間一致性控制的難題。在此基礎上,進一步將該方法推廣到了高階非仿射多智能系統(tǒng),結合反衍控制設計思想,歸納法思想,高階加冪積分技術,核心函數技術以及自適應方法,建立了有限時間一致性協(xié)議,解決了高階非仿射多智能體系統(tǒng)的有限時間一致性控制問題。(3)針對帶有非匹配不確定性的高階純反饋(Pure-feedback)多智能體系統(tǒng),通過引入基于虛擬分數階濾波的分數階-動態(tài)面設計概念,設計出了基于分數階狀態(tài)反饋的有限時間神經網絡自適應一致性追蹤控制算法,并通過應用Lyapunov穩(wěn)定性分析方法、反衍控制設計方法以及打包函數(packaged function)技術,給出了系統(tǒng)穩(wěn)定的嚴格理論分析與證明,解決了此類帶有非匹配不確定性的高階復雜系統(tǒng)的有限時間一致性追蹤控制問題,并進一步將此穩(wěn)定性分析方法拓展應用到了該類系統(tǒng)的有限時間合圍控制中。給定有限時間控制(4)提出了一種全新的有限時間控制理論與分析方法,不同于傳統(tǒng)的依賴符號函數或分數階狀態(tài)反饋的有限時間控制,該方法中所得的有限收斂時間不依賴于任何初始條件和其他設計參數,因此可以提前統(tǒng)一給定。基于該有限時間控制理論思想,針對一階線性多智能體系統(tǒng),分別在無向拓撲和有向拓撲條件下建立了在提前統(tǒng)一給定有限時間內實現協(xié)同一致的結果,解決了現有有限時間控制理論無法提前給定統(tǒng)一的有限時間表達式的難題,更進一步解決了現有有限時間控制理論不連續(xù)或不平滑的難題。更進一步,將此有限時間控制理論拓展應用到高階多智能體系統(tǒng)領導-跟隨一致性控制問題中,解決了高階系統(tǒng)有限時間控制中存在的控制器設計復雜以及分析過程復雜導致的難以應用于實際,并且難以提前統(tǒng)一給定有限收斂時間的難題。
[Abstract]:Large-scale network system has complex dynamic characteristics, and its control problem is very important and challenging. Traditional centralized control method is very difficult to meet the requirement of coordination, stability and high-efficiency operation of complex large-scale system. different from the traditional centralized control method, the distributed control method has the advantages of less information amount, good cooperation, high flexibility, strong expandability and the like, It is the ideal choice of the large-scale networked local information interaction system control mechanism, which has been widely used in attitude control of satellite in recent years. Intelligent transportation system, large-scale power dispatching and other fields. Cooperative Consistency is the most basic problem in distributed control research of Networked Multi-agent Systems (NMAS), which is the basis for solving other distributed control problems. How to guarantee the high stability, high precision and high speed convergence of complex multi-agent system under the condition of weak communication topology is the key point and difficulty of studying the consistency problem of multi-agent system. This paper focuses on: a) adaptive finite time consistency control for nonlinear multi-agent systems with complex uncertainties; b) a given finite time consistency control problem for multi-agent systems, which primarily completes the following innovative work: The finite time consistency control (1) is based on the finite time consistency control problem of the second order nonlinear multi-agent system under unidirectional communication topology. By constructing a new Laplacian matrix and proving the important property of the matrix through strict theoretical analysis, In this paper, we introduce a distributed adaptive finite time consistency control algorithm for nonlinear multi-agent systems under unidirectional communication networks by introducing the matrix into appropriate Lyapunov candidate functions. The method solves the theoretical problem that the existing finite time control theory can hardly analyze and analyze the existing finite time control theory. On the basis of this, the finite time stability analysis method is further extended to the formation-joint control problem of the system, and the continuous finite time formation of the second-order nonlinear multi-agent system under one-way topology is solved. (2) Aiming at the uncertain nonlinear factors with unknown time-varying control gain and non-linear parametric decomposition and the second-order complex nonlinear multi-agent system with unknown non-measurable actuator failure, the problem of limited time consistency control in one-way communication topology is studied. Combined with power integration technique, kernel function technique and adaptive method, a finite time consistency control algorithm based on fractional order state feedback and fractional order adaptive law is designed. By introducing the concept of virtual parameter estimation error and local synovium error, The Lyapunov candidate function is ingeniously constructed, and the strict theoretical analysis and proof of the finite time stability of the system are given, thus solving the problem that the finite time consistency control of the complex multi-agent system under the condition of unknown time-varying control gain and unknown non-measurable actuator is solved. On the basis of this, the method is extended to the high-order non-affine multi-intelligence system, combined with the anti-perfunctory control design idea, the inductive method, the high-order plus power integration technique, the kernel function technology and the self-adapting method, and a finite time consistency protocol is established. and solves the problem of limited time consistency control of a high-order non-affine multi-agent system. (3) Aiming at a high order pure feedback multi-agent system with non-matching uncertainty, a fractional order-dynamic face design concept based on the virtual fractional order filtering is introduced, A finite time neural network adaptive consistency tracking control algorithm based on fractional order state feedback is designed, and the strict theoretical analysis and proof of system stability are given by applying Lyapunov stability analysis method, anti-perfunctory control design method and packaged function technique. The limited time consistency tracking control problem of the high-order complex system with non-matching uncertainty is solved, and the stability analysis method is further extended to the limited time combination control of the system. a new finite time control theory and analysis method is proposed for a given finite time control (4), which is different from the finite time control of the traditional dependency symbol function or fractional order state feedback, The finite convergence time obtained in the method does not depend on any initial conditions and other design parameters and can therefore be given uniformly in advance. based on the finite time control theory idea, aiming at one-order linear multi-agent system, solves the difficult problem that the existing finite time control theory cannot advance a uniform finite time expression in advance, and further solves the difficult problem that the existing finite time control theory is not continuous or smooth. further, the limited time control theory is extended to the leading-follow consistency control problem of the high-order multi-agent system, the complexity of the controller design existing in the finite time control of the high-order system and the complexity of the analysis process are solved, and it is difficult to unify the problem of a given finite convergence time in advance.
【學位授予單位】：重慶大學
【學位級別】：博士
【學位授予年份】：2016
【分類號】：TP18;TP273
本文編號：2290709
[Abstract]:Large-scale network system has complex dynamic characteristics, and its control problem is very important and challenging. Traditional centralized control method is very difficult to meet the requirement of coordination, stability and high-efficiency operation of complex large-scale system. different from the traditional centralized control method, the distributed control method has the advantages of less information amount, good cooperation, high flexibility, strong expandability and the like, It is the ideal choice of the large-scale networked local information interaction system control mechanism, which has been widely used in attitude control of satellite in recent years. Intelligent transportation system, large-scale power dispatching and other fields. Cooperative Consistency is the most basic problem in distributed control research of Networked Multi-agent Systems (NMAS), which is the basis for solving other distributed control problems. How to guarantee the high stability, high precision and high speed convergence of complex multi-agent system under the condition of weak communication topology is the key point and difficulty of studying the consistency problem of multi-agent system. This paper focuses on: a) adaptive finite time consistency control for nonlinear multi-agent systems with complex uncertainties; b) a given finite time consistency control problem for multi-agent systems, which primarily completes the following innovative work: The finite time consistency control (1) is based on the finite time consistency control problem of the second order nonlinear multi-agent system under unidirectional communication topology. By constructing a new Laplacian matrix and proving the important property of the matrix through strict theoretical analysis, In this paper, we introduce a distributed adaptive finite time consistency control algorithm for nonlinear multi-agent systems under unidirectional communication networks by introducing the matrix into appropriate Lyapunov candidate functions. The method solves the theoretical problem that the existing finite time control theory can hardly analyze and analyze the existing finite time control theory. On the basis of this, the finite time stability analysis method is further extended to the formation-joint control problem of the system, and the continuous finite time formation of the second-order nonlinear multi-agent system under one-way topology is solved. (2) Aiming at the uncertain nonlinear factors with unknown time-varying control gain and non-linear parametric decomposition and the second-order complex nonlinear multi-agent system with unknown non-measurable actuator failure, the problem of limited time consistency control in one-way communication topology is studied. Combined with power integration technique, kernel function technique and adaptive method, a finite time consistency control algorithm based on fractional order state feedback and fractional order adaptive law is designed. By introducing the concept of virtual parameter estimation error and local synovium error, The Lyapunov candidate function is ingeniously constructed, and the strict theoretical analysis and proof of the finite time stability of the system are given, thus solving the problem that the finite time consistency control of the complex multi-agent system under the condition of unknown time-varying control gain and unknown non-measurable actuator is solved. On the basis of this, the method is extended to the high-order non-affine multi-intelligence system, combined with the anti-perfunctory control design idea, the inductive method, the high-order plus power integration technique, the kernel function technology and the self-adapting method, and a finite time consistency protocol is established. and solves the problem of limited time consistency control of a high-order non-affine multi-agent system. (3) Aiming at a high order pure feedback multi-agent system with non-matching uncertainty, a fractional order-dynamic face design concept based on the virtual fractional order filtering is introduced, A finite time neural network adaptive consistency tracking control algorithm based on fractional order state feedback is designed, and the strict theoretical analysis and proof of system stability are given by applying Lyapunov stability analysis method, anti-perfunctory control design method and packaged function technique. The limited time consistency tracking control problem of the high-order complex system with non-matching uncertainty is solved, and the stability analysis method is further extended to the limited time combination control of the system. a new finite time control theory and analysis method is proposed for a given finite time control (4), which is different from the finite time control of the traditional dependency symbol function or fractional order state feedback, The finite convergence time obtained in the method does not depend on any initial conditions and other design parameters and can therefore be given uniformly in advance. based on the finite time control theory idea, aiming at one-order linear multi-agent system, solves the difficult problem that the existing finite time control theory cannot advance a uniform finite time expression in advance, and further solves the difficult problem that the existing finite time control theory is not continuous or smooth. further, the limited time control theory is extended to the leading-follow consistency control problem of the high-order multi-agent system, the complexity of the controller design existing in the finite time control of the high-order system and the complexity of the analysis process are solved, and it is difficult to unify the problem of a given finite convergence time in advance.
【學位授予單位】：重慶大學
【學位級別】：博士
【學位授予年份】：2016
【分類號】：TP18;TP273
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