具有输入饱和的网络化多机器人系统分布式控制

发布时间：2018-06-12 04:53

本文选题：网络化多机器人系统 + 多智能体系统　；参考：《上海工程技术大学》2016年硕士论文

【摘要】：网络化多机器人系统的分布式控制问题可以看作是多个具有自主协调控制的微型机器人,通过相互之间共享信息、相互协调,有效地完成总体任务。将每个网络化机器人看作一个智能体,建立多智能体系统(Multi-agent system),那么就可以实现多智能体的相互协调与合作,完成复杂的作业任务。多智能体系统的分布式控制在分布式传感网络、编队控制、无人驾驶飞行器等航空、航天以及工业生产过程等领域都得到了广泛的应用。由于饱和约束广泛地存在于任何实际的被控对象中,并且近几十年来在网络化控制系统中考虑饱和约束的问题受到了非常广泛的关注,因此研究具有输入饱和的多智能体系统的稳定性问题具有重要的理论及实际意义。本文在已有的多智能体系统一致性控制研究基础上,进一步地研究了具有输入饱和的多智能体系统的一致性控制问题,主要内容及创新点可归结如下:(1)针对具有输入饱和的多智能体连续系统,假设系统是可控的,利用代数李亚谱诺夫(Lyapunov)方程的方法求出唯一正定解,设定其逆为低增益反馈矩阵,基于低增益反馈控制策略和观测器的思路分别设计具有状态反馈和输出反馈的一致性控制算法,使得多智能体系统能够达到半全局一致;(2)针对具有输入饱和的多智能体离散系统,将一般的离散系统推广到带有领导者的多智能体离散系统,假设系统是有界渐近零能控(ANCBC)的,分别设计具有状态反馈和输出反馈的一致性控制算法,使得多智能体系统能够达到全局一致;此外,基于Matlab平台论文对上述一致性控制算法进行数值仿真。对于多智能体连续系统,通过选取不同的低增益参数,阐述了低增益反馈策略的应用;对于多智能体离散系统,分别考虑有无输入饱和的情形。仿真结果验证了理论研究的正确性。
[Abstract]:The distributed control problem of networked multi-robot systems can be regarded as many micro-robots with autonomous coordinated control. By sharing information with each other and coordinating with each other, the distributed control problem can effectively accomplish the overall task. If each networked robot is regarded as an agent and a multi-agent system is established, the coordination and cooperation of multi-agent can be realized and complex task can be accomplished. The distributed control of multi-agent system has been widely used in the fields of distributed sensor network, formation control, unmanned aerial vehicle, aerospace and industrial production process. Saturation constraints are widely used in any actual controlled object, and the problem of considering saturation constraints in networked control systems has received extensive attention in recent decades. Therefore, it is of great theoretical and practical significance to study the stability of multi-agent systems with input saturation. In this paper, the consistency control of multi-agent systems with input saturation is further studied on the basis of the existing research on consistency control of multi-agent systems. The main contents and innovations can be summed up as follows: (1) for a multi-agent continuous system with input saturation, assuming that the system is controllable, the unique positive definite solution is obtained by using the algebraic Li Ya spectrum Lyapunov-equation method, and the inverse is set as a low gain feedback matrix. Based on the low gain feedback control strategy and the observer, a consistent control algorithm with state feedback and output feedback is designed, respectively. For multi-agent discrete-time system with input saturation, the general discrete system is extended to multi-agent discrete system with leader, assuming that the system is bounded asymptotically zero controllable ANCBC. The consistency control algorithms with state feedback and output feedback are designed respectively to make the multi-agent system achieve global consistency. In addition, the above consistency control algorithms are numerically simulated based on Matlab platform. For multi-agent continuous system, the application of low-gain feedback strategy is discussed by selecting different low-gain parameters, and the case of input saturation is considered for multi-agent discrete system. The simulation results verify the correctness of the theoretical research.
【学位授予单位】：上海工程技术大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242

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