动态环境下的无人系统先进控制理论及自主协作策略研究

先进容错及协同控制是无人系统安全可靠运行的基础和关键，更是当前研究热点及难点。本项目旨在研究动态约束下无人系统的自适应容错控制与自主协作问题，主要研究内容包括：1)状态及性能约束的解析描述；2)多重约束条件下无人系统可靠协作及安全的控制理论及方法的建立与推广；3)控制理论及协作策略的实际应用效果分析与验证。本项目的新颖及创新点在于：将动态环境约束融入协作与控制设计中，将避障、防撞、容错等安全问题巧妙转化成动态非对称约束控制及自适应容错控制问题，通过构造状态约束函数和新颖坐标变换，突破传统状态约束控制方法的“可行性条件”完整解决控制的可靠性及可行性问题；通过主动安全控制实现有效避障，提出的性能约束算法不仅可确保预定性能指标，而且可实现系统的全局稳定。这种独辟蹊径的研究思路和科学尝试，可望取得系列突破性成果，对丰富无人系统的安全与控制理论具有重要意义。

Advanced cooperative and fault-tolerant control — the fundamental and key enabling technologies for safe and reliable operation of unmanned systems — are the focus and nodus of current research. This project aims at investigating adaptive fault-tolerant control and autonomous collaboration of unmanned systems under dynamic constraints, the main research tasks include: 1) analytical description of state and performance constraints; 2) establishment and extension of reliable cooperation strategies and safety control methodologies for unmanned systems under multiple constraints; 3) evaluation and validation of the developed control theory and cooperative strategy through real-time experiment on testbed available in the lab. The novelty and innovation of this project lies in: by incorporating dynamic environmental constraints into control design, the critical technical barriers and challenges such as obstacle/collision avoidance and fault tolerance are skillfully transformed into designing fault-tolerant control schemes for the systems under dynamic asymmetric constraints, which is accomplished by constructing the state constraint function and novel coordinate transformation, where the problem of safety and reliability of the system is completely solved without the need for "feasibility condition" that is normally imposed on the virtual controllers. The salient feature of the proposed method also lies in its ability to ensure prescribed performance for the system, while maintain global stability and avoiding possible collision. Significant breakthroughs are expected to make during this project, resulting in series of high quality technical publications, enriching the field of safe and reliable control of unmanned systems.