A distributed parameter approach for the control of multi-agent systems

作者：Freudenthaler Gerhard^*; Meurer Thomas

来源：Automatisierungstechnik, 2017, 65(8): 574-585.

DOI：10.1515/auto-2017-0018

• Multi-agent systems
• distributed parameter systems
• flatness
• backstepping
• formation control
• stabilisation
• tracking control
• partial differential equation

A 2-degree-of-freedom control concept is developed for formation control of multi-agent systems. For this, a continuum model is set up in the form of a modified viscous Burgers-type partial differential equation. This approach allows to combine flatness-based motion planning with backstepping-based tracking control to stabilise the tracking error dynamics. Furthermore, it is shown that the introduction of an exogenous distributed parameter system enables to move the whole formation about the plane in each coordinate individually. The control concept is applied to an infinite-dimensional, discrete multiagent system by suitable discretisation of the domain in space, which additionally characterises the communication topology between the agents. Simulation studies are presented to evaluate the control strategy.

• 出版日期2017-8