非线性多智能体系统T-S模糊控制方法研究

非线性多智能体系统是多智能体领域的研究热点，但传统的处理非线性多智能体系统的方法存在一定的缺点，如不具备一般性、鲁棒性差、保守性强以及不易应用等。针对这一问题，本项目研究基于T-S模糊方法的非线性多智能体系统协同控制，并构建一套理论方法，为该领域的研究提供理论基础，推动该领域的研究进程。主要内容包括：(1)提出一般化稳定性分析方法，建立基本的T-S模糊多智能体系统协同控制算法；(2)利用滑模控制理论研究外干扰影响下的T-S模糊多智能体系统鲁棒一致性控制算法；(3)针对T-S模糊多智能体系统，研究外干扰和网络时延共同作用下的时延依赖鲁棒一致性控制算法；(4)利用多水下航行器系统开展实验应用研究。本项目的研究可为T-S模糊多智能体系统的研究奠定基础，对非线性多智能体系统协同控制方面的研究具有重要的学术意义和应用前景。

The research on nonlinear multi-agent systems (MASs) is one of the hotspots in the area of MASs. The traditional control approach for nonlinear MASs has some disadvantages, such as, lack of generality, weak robustness, more conservative and difficult to be applied. To this end, this project aims to utilize the Takagi-Sugeno (T-S) fuzzy approach to investigate the cooperative control of nonlinear MASs, which can provide the theoretical basis and further enhance the research progress for T-S fuzzy MASs. The research contents of this project can be summarized as follows: (1) propose a general stability analysis method that can help to construct the basic cooperative control approach for T-S fuzzy MASs; (2) study the robust consensus control method to attenuate external disturbances for T-S fuzzy MASs by using sliding-mode control theory; (3) develop a robust delay-dependent consensus controller that can handle disturbances and communication delays simultaneously for T-S fuzzy MASs; (4) conduct the experimental and implementation research by using autonomous underwater vehicles (AUVs). This research can lay the foundation for the study of T-S fuzzy MASs, and has important academic significance and application prospects for the cooperative control of nonlinear MASs.