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协作式输出调节问题及其应用
  • 项目名称：协作式输出调节问题及其应用
  • 项目类别：面上项目
  • 批准号：61174049
  • 申请代码：F030101
  • 项目来源：国家自然科学基金
  • 研究期限：2012-01-01-2015-12-31
  • 项目负责人：黄捷
  • 依托单位：香港中文大学深圳研究院
  • 批准年度：2011
中文摘要：

输出调节问题是控制理论与应用的主流问题之一。该问题不仅要保证闭环系统的稳定性，而且要使闭环系统的输出可以渐近跟踪一类参考输入并渐近抗御一类干扰信号，因此比镇定性问题更有挑战性。由于该问题可以更精确地描述许多复杂控制问题包括高速列车的减震、舰载飞机的垂直起降、航天器的轨道运行、以及机器人的协调与操纵等等，因此极具实用意义。然而目前的输出调节问题的解决依赖于集中式的控制器。随着网络化世界的来临，越来越多的实际控制问题诸如移动机器人队伍的协调控制，无人驾驶飞机的编队控制等问题需用群体动态系统来描述。因此，本项目拟构建一个称之为协作式输出调节问题的框架。该框架一方面将用分布式控制器对群体不确定动态系统的跟踪与抗干扰问题给出系统化的解，从而将输出调节问题的理论与应用推广至群体动态系统，另一方面又包含了趋同，同步，编队等诸多群体动力系统的控制问题为特例，从而可统一处理诸多群体动力系统的控制问题。

中文主题词： 协作式输出调节；群体系统；趋同问题；前馈控制；内模原理
英文摘要：

Cooperative output regulation；Multi-agent system；Consensus；Feedforward control；Internal model

英文主题词： Cooperative output regulation；Multi-agent system；Consensus；Feedforward control；Internal model
结论摘要：

输出调节问题是控制理论与应用的主流问题之一。该问题不仅要保证闭环系统的稳定性，而且要使闭环系统的输出可以渐近跟踪一类参考输入并渐近抗御一类干扰信号，因此比镇定性问题更有挑战性。由于该问题可以更精确地描述许多复杂控制问题包括高速列车的减震、舰载飞机的垂直起降、航天器的轨道运行、以及机器人的协调与操纵等等，因此极具实用意义。然而目前的输出调节问题的解决依赖于集中式的控制器。随着网络化世界的来临，越来越多的实际控制问题诸如移动机器人队伍的协调控制，无人驾驶飞机的编队控制等问题需用群体动态系统来描述。因此，本项目拟构建一个称之为协作式输出调节问题的框架。该框架一方面将用分布式控制器对群体不确定动态系统的跟踪与抗干扰问题给出系统化的解，从而将输出调节问题的理论与应用推广至群体动态系统，另一方面又包含了趋同，同步，编队等诸多群体动力系统的控制问题为特例，从而可统一处理诸多群体动力系统的控制问题。

成果综合统计
成果类型
数量
  • 期刊论文
  • 会议论文
  • 专利
  • 获奖
  • 著作
  • 19
  • 26
  • 0
  • 0
  • 0
期刊论文
A general result on the cooperative robust output regulation for linear uncertain multi-agent system
A leader-following rendezvous problem of double integrator multi-agent systems
Stability of a class of linear switching systems with applications to two consensus problems
Cooperative output regulation with application to multi-agent consensus under switching network
Cooperative adaptive output regulation for a class of nonlinear uncertain multi-agent systems with u
Leader-following consensus of multiple uncertain Euler-Lagrange systems under switching network topo
Cooperative global robust output regulation for nonlinear multi-agent systems in output feedback for
Cooperative global output regulation for a class ofnonlinear multi-agent systems
The leader following attitude control of multiple rigid spacecraft systems
Cooperative semi-global robust output regulation for a class of nonlinear uncertain multi-agent syst
Leader-following connectivity preservation rendezvous of multiple double integrator systems based on
Leader-following rendezvous with connectivity preservation of single-integrator multi-agent systems
Cooperativeglobal robust output regulation for nonlinear uncertain multi-agent systems in lowertrian
Cooperativeglobal robust output regulation for a class of nonlinear multi-agent systems witha nonlin
Cooperativeglobal robust output regulation for a class of nonlinear multi-agent systemswith switchin
Outputregulation problem for discrete-time linear time-delay systems by outputfeedback control
Cooperative global output regulation of heterogenous second-order nonlinear uncertain multi-agent sy
会议论文
Cooperative global robust output regulation for lower triangular nonlinear multi-agent systems under
Cooperative output regulation for a class of linear multi-agent systems with unknown exosystem
Leader-following attitude control of multiple rigid spacecraft systems via unit quaternion-based out
Cooperative output regulation problem for linear time-delay multi-agent systems under switching netw
Consensus with connectivity preservation ofuncertain Euler-lagrangemulti-agent systems
Cooperative global robustoutput regulationfor a class of nonlinear multi-agentsystemswith unity degr
Cooperative output regulation of multi-agent systems
Cooperative robust output regulation of linear uncertain multi-agent systems
The leader-following consensus of multiple rigid spacecraft systems
A class of nonlinear internal models and its application
Leader-following connectivity preservation rendezvous of multi-agent systems based only position mea
Cooperative global output regulation for general output feedback nonlinear multi-agent systems
Global robust output regulation for nonlinear multi-agent systems in strict feedback form
Leader-following rendezvous with connectivity preservation of a class of multi-agent systems
Cooperative robust output regulation of linearminimum-phase multi-agent systems under switching netw
The leader-following consensus for multiple uncertain Euler-Lagrange systems with a distributed adap
Robust output regulation problem for linear systemswith both input and communication delays
Cooperative global robust output regulation for nonlinear multi-agent systems in output feedback for
Cooperative global adaptive output regulation for nonlinear multi-agent systems with iISS inverse dy
Cooperative semi-global robust output regulation of nonlinear uncertain multi-agent systems
Adaptive leader-following consensus of multiple uncertainrigid spacecraft systems
Robust stabilization for nonlinear multi-Agent systems with unity relative degree by distributed swi
Outputregulation problem for discrete-time linear time-delay systems
Leader-following consensus with connectivity preservation of uncertain Euler-lagrangemulti-agent sys
Cooperative global robust output regulation for nonlinear multi-agent systems in output feedback for
Distributed Leader-following Consensus for Multiple Euler-Lagrange Systems under Switching Network
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