复杂条件下多智能体系统的鲁棒一致性控制研究
发布时间：2018-07-22 21:22
【摘要】：多智能体系统分布式协调控制是通过智能体之间相互作用来实现单个智能体叠加无法达到的整体功能,是当前系统控制领域的研究热点和前沿。多智能体系统分布式协调控制的一个基本问题就是多种智能体系统的一致性控制问题。本论文针对复杂条件下多智能体系统的鲁棒一致性控制问题,分析了时滞、外部扰动和参数不确定性对多智能体系统一致性的影响,设计了合适的控制算法使多智能体系统实现一致性并满足期望的鲁棒H_∞性能指标,并将其控制算法应用于无人机群的编队控制。本论文主要研究内容和贡献如下:针对具有固定时滞、外部扰动和参数不确定性的二阶多智能体系统在二维平面上的鲁棒旋转一致性控制问题,提出了实现鲁棒旋转一致性所需要满足的充分条件。通过系统模型变换,将多智能体系统的一致状态与非一致状态分离,得到降阶系统,从而将多智能体系统鲁棒旋转一致性控制问题转换成降阶系统鲁棒H_∞控制问题;再基于该降阶系统,利用鲁棒H_∞控制理论,推导出此类二阶多智能体系统在二维平面上实现鲁棒旋转一致性所需要满足的充分条件。针对具有时变时滞、外部扰动和参数不确定性的二阶多智能体系统在三维空间中的鲁棒旋转一致性控制问题,提出了一种较低计算复杂度的鲁棒H_∞旋转一致性控制算法,提出了一种提高扰动抑制能力和时滞上限的控制参数优化算法。利用变量代换和矩阵理论工具,将二阶多智能体系统模型进行分解和解耦,从而将多智能体系统鲁棒旋转一致性控制问题转换成解耦子系统鲁棒H_∞控制问题;基于此解耦子系统,利用Lyapunov-Krasovskii泛函方法和线性矩阵不等式的凸性,推导出了较低复杂度的时滞相关鲁棒旋转一致性的充分条件;基于该条件,利用一种圆锥补线性化算法和一种迭代算法,提出了一种时滞相关鲁棒H_∞旋转一致性的控制算法;拓展此控制算法,提出了一种提高扰动抑制能力和时滞上限的控制参数优化算法。针对具有双时变时滞、外部扰动和参数不确定性的高阶多智能体系统的鲁棒一致性控制问题,推导出了一个更低保守性的时滞相关鲁棒一致性条件,提出了一种较低计算复杂度的鲁棒H_∞一致性控制算法,提出了提高扰动抑制能力和时滞上限的控制参数优化算法。利用变量代换和矩阵理论工具,将高阶多智能体系统模型进行分解和解耦,从而将高阶多智能体系统鲁棒一致性控制问题转换成解耦子系统鲁棒H_∞控制问题;针对具有非一致自身状态和输入时滞的双时变时滞情况,利用Lyapunov-Krasovskii泛函、Jensen不等式和带自由权矩阵的Newton-Leibniz公式等工具推导出更低保守性时滞相关鲁棒一致性条件;基于此条件,提出了一种时滞相关鲁棒H_∞一致性的控制算法;拓展此控制算法,提出了一种提高扰动抑制能力和时滞上限的控制参数优化算法。基于本文关于多智能体系统鲁棒一致性控制的理论成果,提出了无人机群实现鲁棒时变编队的控制器综合规则和算法。首先,通过一种反馈线性化方法,将无人机的非线性模型转化成为一个双积分线性化模型;其次,设计了基于局部无人机状态信息反馈的分布式控制协议;再次,通过变量替换,将无人机群鲁棒时变编队控制问题转化为多智能体系统鲁棒一致性控制问题;最后,利用前文所获得的关于多智能体系统鲁棒一致性控制的理论成果,提出了无人机群实现鲁棒时变编队的控制器综合规则和算法。
[Abstract]:Distributed coordination control of multi-agent system is a whole function which can not be achieved by the superposition of individual agents through the interaction between agents. It is a hot and frontier in the field of current system control. A basic problem of distributed coordination control of multi-agent system is the consistency control of multiple agent systems. Aiming at the problem of Robust Consistency Control of multiagent systems under complex conditions, this paper analyzes the influence of time delay, external disturbance and parameter uncertainty on the unity of multi intelligence system. A suitable control algorithm is designed to make the multi-agent system achieve consistency and satisfy the expected robust H_ infinity performance index, and its control algorithm is applied. The main research contents and contributions of this paper are as follows: for the robust rotation consistency control problem of two order multiagent systems with fixed time delay, external disturbance and parameter uncertainty in two-dimensional plane, the sufficient conditions to be satisfied for the realization of robust rotation consistency are proposed. The model is transformed into a reduced order system by separating the uniform state from the non consistent state of the multi-agent system. The robust rotation consistency control problem of the multi-agent system is converted to the robust H_ control problem of the reduced order system. Based on the reduced order system, the two order multi-agent system is derived by using the robust H_ infinity control theory. A robust rotational conformance control problem for two order multiagent systems with time-varying delay, external disturbances and parameter uncertainties is proposed for robust rotation consistency control of two order multiagent systems with time-varying delay, external disturbance and parameter uncertainty. A robust H_ infinity rotation consistency control algorithm with low computational complexity is proposed. A control parameter optimization algorithm which improves the ability of disturbance rejection and the upper limit of time delay is used to decompose and decouple the two order multi-agent system model by variable substitution and matrix theory, and then transform the robust rotation consistency control problem into the robust H_ infinity control problem of the decoupling subsystem; based on this decoupling subsystem By using the Lyapunov-Krasovskii functional method and the convexity of linear matrix inequalities, a sufficient condition for the robust rotation consistency of time delay related to low complexity is derived. Based on this condition, a time dependent robust H_ infinity rotation consistency control algorithm is proposed by using a conic complement linearization algorithm and an iterative algorithm. A control parameter optimization algorithm is proposed to improve the ability of disturbance rejection and the upper limit of time delay. For the robust conformance control problem of a high order multiagent system with dual time-varying delay, external disturbance and parameter uncertainty, a lower conservative delay dependent robust consistency condition is derived. A robust H_ infinity conformance control algorithm for lower computational complexity is proposed. A control parameter optimization algorithm is proposed to improve the ability of disturbance rejection and the upper limit of time delay. Using variable substitution and matrix theory, the model of high order multi-agent system is decomposed and decoupled, and the robust consistency control problem of the high order multi-agent system is solved. The robust H_ infinity control problem of the decoupling subsystem is transformed. For the case of two time time-delay with nonuniform self state and input delay, the Lyapunov-Krasovskii functional, the Jensen inequality and the Newton-Leibniz formula with the free weight matrix are used to derive the delay correlation robust consistency conditions for lower conservatism. A control algorithm for time-delay dependent robust H_ infinity consistency is presented, and a control parameter optimization algorithm is proposed to improve the disturbance rejection capability and the upper limit of time delay. Based on the theoretical results of Robust Consistency Control of the multi-agent system, a robust time-varying formation controller for the unmanned aerial vehicle group is proposed. In the first place, a feedback linearization method is used to transform the nonlinear model of unmanned aerial vehicle into a double product line model. Secondly, a distributed control protocol based on the information feedback of local UAV state information is designed. Again, the robust time-varying formation control problem of unmanned aerial vehicle group is converted to intelligence by variable substitution. The robust conformance control problem of the energy system is solved. Finally, using the theoretical results on Robust Consistency Control of the multi-agent system, the integrated rules and algorithms of the robust time variant formation of the unmanned aerial vehicle group are proposed.
【学位授予单位】：电子科技大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：TP13;TP18
本文编号：2138613
[Abstract]:Distributed coordination control of multi-agent system is a whole function which can not be achieved by the superposition of individual agents through the interaction between agents. It is a hot and frontier in the field of current system control. A basic problem of distributed coordination control of multi-agent system is the consistency control of multiple agent systems. Aiming at the problem of Robust Consistency Control of multiagent systems under complex conditions, this paper analyzes the influence of time delay, external disturbance and parameter uncertainty on the unity of multi intelligence system. A suitable control algorithm is designed to make the multi-agent system achieve consistency and satisfy the expected robust H_ infinity performance index, and its control algorithm is applied. The main research contents and contributions of this paper are as follows: for the robust rotation consistency control problem of two order multiagent systems with fixed time delay, external disturbance and parameter uncertainty in two-dimensional plane, the sufficient conditions to be satisfied for the realization of robust rotation consistency are proposed. The model is transformed into a reduced order system by separating the uniform state from the non consistent state of the multi-agent system. The robust rotation consistency control problem of the multi-agent system is converted to the robust H_ control problem of the reduced order system. Based on the reduced order system, the two order multi-agent system is derived by using the robust H_ infinity control theory. A robust rotational conformance control problem for two order multiagent systems with time-varying delay, external disturbances and parameter uncertainties is proposed for robust rotation consistency control of two order multiagent systems with time-varying delay, external disturbance and parameter uncertainty. A robust H_ infinity rotation consistency control algorithm with low computational complexity is proposed. A control parameter optimization algorithm which improves the ability of disturbance rejection and the upper limit of time delay is used to decompose and decouple the two order multi-agent system model by variable substitution and matrix theory, and then transform the robust rotation consistency control problem into the robust H_ infinity control problem of the decoupling subsystem; based on this decoupling subsystem By using the Lyapunov-Krasovskii functional method and the convexity of linear matrix inequalities, a sufficient condition for the robust rotation consistency of time delay related to low complexity is derived. Based on this condition, a time dependent robust H_ infinity rotation consistency control algorithm is proposed by using a conic complement linearization algorithm and an iterative algorithm. A control parameter optimization algorithm is proposed to improve the ability of disturbance rejection and the upper limit of time delay. For the robust conformance control problem of a high order multiagent system with dual time-varying delay, external disturbance and parameter uncertainty, a lower conservative delay dependent robust consistency condition is derived. A robust H_ infinity conformance control algorithm for lower computational complexity is proposed. A control parameter optimization algorithm is proposed to improve the ability of disturbance rejection and the upper limit of time delay. Using variable substitution and matrix theory, the model of high order multi-agent system is decomposed and decoupled, and the robust consistency control problem of the high order multi-agent system is solved. The robust H_ infinity control problem of the decoupling subsystem is transformed. For the case of two time time-delay with nonuniform self state and input delay, the Lyapunov-Krasovskii functional, the Jensen inequality and the Newton-Leibniz formula with the free weight matrix are used to derive the delay correlation robust consistency conditions for lower conservatism. A control algorithm for time-delay dependent robust H_ infinity consistency is presented, and a control parameter optimization algorithm is proposed to improve the disturbance rejection capability and the upper limit of time delay. Based on the theoretical results of Robust Consistency Control of the multi-agent system, a robust time-varying formation controller for the unmanned aerial vehicle group is proposed. In the first place, a feedback linearization method is used to transform the nonlinear model of unmanned aerial vehicle into a double product line model. Secondly, a distributed control protocol based on the information feedback of local UAV state information is designed. Again, the robust time-varying formation control problem of unmanned aerial vehicle group is converted to intelligence by variable substitution. The robust conformance control problem of the energy system is solved. Finally, using the theoretical results on Robust Consistency Control of the multi-agent system, the integrated rules and algorithms of the robust time variant formation of the unmanned aerial vehicle group are proposed.
【学位授予单位】：电子科技大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：TP13;TP18
【参考文献】
相关期刊论文 前1条
1 ;ROBUST CONSENSUS AND SOFT CONTROL OF MULTI-AGENT SYSTEMS WITH NOISES[J];Journal of Systems Science and Complexity;2008年03期
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