Design of Robust Distributed Control Schemes with Applications to Multi-Agent Systems

鲁棒分布式控制方案设计及其在多智能体系统中的应用

• 批准号: 262127-2012
• 负责人: Aghdam, Amir
• 金额: $ 2.4万
• 依托单位: Concordia University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2016
• 资助国家: 加拿大
• 起止时间: 2016-01-01 至 2017-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=594732
• 关键词: Design; Robust; Distributed; Control; Schemes

The problem of controlling an interconnected large-scale system by means of structurally constrained controllers is considered in this proposal. In many physical systems such as sensor networks, power systems, coordinated motion of automated vehicles and traffic networks, the interacting subsystems are geographically dispersed. Usually, traditional centralized control for this type of system is not as efficient, due to the distributed nature of the network and also the complexity of the required on-line computations. Furthermore, continuous transmission of data from the subsystems to the controller and vice versa is typically expensive. Another obvious disadvantage of such structure is that the resultant closed-loop system has a single point of failure. In a distributed control structure, on the other hand, one can generate the control input of each subsystem by only concentrating on those outputs which have a relatively high impact on the corresponding subsystem (through interconnections). This reduces the complexity of the computations, and at the same time improves the efficiency of the control topology.

研究了互联大系统的结构约束控制问题。在许多物理系统中，如传感器网络、电力系统、自动驾驶车辆的协调运动和交通网络，相互作用的子系统在地理上是分散的。通常，由于网络的分布式特性以及所需在线计算的复杂性，这种类型的系统的传统集中式控制不是那么有效。此外，数据从子系统到控制器的连续传输以及从控制器到子系统的连续传输通常是昂贵的。这种结构的另一个明显的缺点是所得到的闭环系统具有单点故障。另一方面，在分布式控制结构中，可以通过仅集中于对相应子系统具有相对高影响的那些输出（通过互连）来生成每个子系统的控制输入。这降低了计算的复杂性，并且同时提高了控制拓扑的效率。