基于事件触发机制的多群组刚体姿态协同控制研究

In some real systems, such as the exploration and detection of deep ocean and space, it will be confronted by the problem of multi-objective cooperative control of multiple groups of rigid bodies (MGRB). Research related to such topic has great values and potentials in both theory and application. Considering the characteristics of cooperative control problem of MGRB, this project will be concerned with the study on the event-trigger based attitude cooperative control for MGRB. Firstly, distributed event triggered scheme based on the comparison of discrete sampling data will be constructed to reduce the network communication pressures between agents and between subgroups of MGRB and agent's computation pressures. Then the intra-group distributed attitude cooperative controller based on the event-triggered scheme will be designed, and the stability analysis of closed-loop systems, together with the optimization method of the parameters in the event-trigger and the controller, will be studied. Moreover, the methods of modeling, analysis, and designing under non-ideal situations, such as time-delay communication, packet dropout, nonlinear interaction, sensor/actuator failure and etc., will also be considered. Finally, the choosing mechanism of the healthy agents responsible for inter-group communication will be devised based on distributed fault detection and isolation, and the optimization method of the parameters, which relate to inter-group communication pressure, will be adopted. In this project, a novel theoretical framework, which is based on the event-triggered cooperative attitude control of MGRB, will be established. It is expected that this research could provide theoretical foundation for the practical applications such as formation control of multi-spacecraft in space and multi-objective exploration in deep ocean, etc.

在航天与海洋探测等实际系统中，将面临多群组刚体的多目标姿态协同控制问题，该问题的研究具有重要的理论与应用价值。考虑到多群组刚体协同控制的特点，本项目提出研究基于事件触发机制的多群组刚体姿态协同控制问题。首先研究建立基于离散数据比较的分布式事件触发通信机制，以降低个体与群组间的网络通信压力及个体计算量。研究基于分布式事件触发机制的组内刚体姿态协同控制设计方法，以及闭环系统分析与触发器参数和控制参数优化设计方法。其中，还将分别考虑存在网络延时、数据丢包、网络关联非线性以及传感/驱动故障等情况下的建模、分析与控制设计问题。对于组间信息交互问题，研究基于分布式故障诊断的组内信息交互健康个体的选择机制，并研究优化组间通信参数的方法。基于上述工作，将初步形成多群组刚体的事件触发姿态协同控制理论方法体系，为航天器集群空间编队、深海探测器多目标探索等工程应用提供理论基础。

本项目创新性地针对多智能体（含刚体）的网络化协同控制问题开展了深入的研究，首先针对几类多智能体系统，考虑输入饱和、执行器故障等因素，提出了对应的协同控制设计方法。接着，提出了一种更具一般性的混合事件触发通信机制，该机制避免了传统时间触发通信机制的缺陷，实现了系统资源的最大化利用；同时针对网络控制系统提出基于自触发与事件触发的混合采样机制研究, 避免不要采样过程，提高无线感知网络系统的能量利用率。在此基础上，考虑通信约束等因素，针对网络控制系统，提出非线性多刚体系统分布式自适应事件触发一致性协议以及网络化系统事件触发机制下基于模型预测的控制研究。接着，研究了基于分布式触发机制的刚体协同控制设计方法，提出了SO(3)上的多群组刚体系统事件触发姿态协同控制方法。此外，将已有理论成果成功拓展应用到电网系统，针对有源配电网中多光伏发电机群系统，提出了一种基于事件触发机制的分布式调控策略。基于上述工作，已经初步形成多群组智能体（含刚体）的事件触发协同控制理论方法体系，为航天器集群空间编队、深海探测器多目标探索以及智能电网等实际工程应用提供理论基础。

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