多约束条件下基于PID协议的多自主体网络协同控制理论与应用

多自主体网络协同控制是面向国际学术前沿和国家重大战略需求的基础研究领域，无论在理论上还是在实际应用中都具有十分重要的意义。由于受到执行器饱和、非线性、噪声等因素影响，传统的协同控制方法存在一些根本问题和先天不足。本项目拟采用理论分析、数值计算与实验验证相结合的研究方法，围绕基于PID协议的多自主体网络协同控制问题展开研究。针对存在执行器饱和、不确定非线性、有向拓扑结构与随机干扰的多自主体网络，通过设计PID协议，揭示多自主体网络协同控制的内在机理，建立协同控制基本理论与方法，阐明协同控制与PID增益之间的本质关系，验证其在无人车/无人机集群中的应用效果，为网络控制系统理论的完善和发展奠定基础。通过本项目研究，可望在理论上揭示多约束条件下多自主体网络协同控制的本质规律，阐明网络拓扑结构、节点动力学、约束条件与PID协议之间的定量关系，为实际工程系统等领域提供新的理论支撑和技术支持。

Multi-agent network cooperative control is a basic research field which facing the international academic frontier and the major national strategic needs. Cooperative control of multi-agent network has significant importance both in theory and in practice. Due to the influences of actuator saturation, nonlinearity, noise and other factors, there exists some fundamental problems and inherent deficiencies for traditional cooperative control approaches. This project aims to adopt theoretical analysis, numerical calculation and experimental verification to investigate cooperative control of multi-agent network under PID protocols. In view of the multi-agent network with actuator saturation, uncertain nonlinearity, directed topologies and stochastic disturbances, by designing PID protocols, this project will reveal the internal mechanisms of cooperative control for multi-agent network, establish the fundamental theories and methods of cooperative control, clarify the essential relationship between cooperative control and PID control gains, and also verify its applications effect in UAV swarming systems. This will lay a foundation for the improvement and development of the theories of networked control systems. Through the research of this project, it is expected to reveal the essential laws for cooperative control of multi-agent network under multiple constraint conditions, and clarify the quantitative relationships between network topologies, node dynamics, constraint conditions and PID protocols. These outcomes will provide a new theoretical and technical support for real engineering systems and other fields.