PDE-based multi-agent formation control using flatness and backstepping: analysis, design and robot experiments
PDE-based multi-agent formation control using flatness and backstepping: analysis, design and robot experiments
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DOI：
10.1016/j.automatica.2020.108897
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发表时间：
2019-12
期刊：
影响因子：
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通讯作者：
G. Freudenthaler;T. Meurer
中科院分区：
文献类型：
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作者：
G. Freudenthaler;T. Meurer
开发了一种基于PDE的控制概念，以将多智能体系统部署到所需的地层剖面中。该动力学模型基于一个耦合的线性、时变抛物型分布参数系统。借助于特定的耦合结构，参数信息可以分布在代理连续体内。基于平面度的运动规划和前馈控制与基于反步的边界控制器相结合，稳定了跟踪误差的分布参数系统。跟踪控制器利用来自Luenberger类型状态观测器的所需状态信息。借助外生系统，实现了地层剖面的重新定位。通过对连续介质模型进行适当的有限差分离散，将控制策略转移到有限维离散多智能体系统，并施加了领导者-跟随者通信拓扑结构。对实现不同稳定和不稳定队形转换的一群移动机器人的仿真研究和实验结果进行了评价。
A PDE-based control concept is developed to deploy a multi-agent system into desired formation profiles. The dynamic model is based on a coupled linear, time-variant parabolic distributed parameter system. By means of a particular coupling structure parameter information can be distributed within the agent continuum. Flatness-based motion planning and feedforward control are combined with a backstepping-based boundary controller to stabilize the distributed parameter system of the tracking error. The tracking controller utilizes the required state information from a Luenberger-type state observer. By means of an exogenous system the relocation of formation profiles is achieved. The transfer of the control strategy to a finite-dimensional discrete multi-agent system is obtained by a suitable finite difference discretization of the continuum model, which in addition imposes a leader–follower communication topology. The results are evaluated both in simulation studies and in experiments for a swarm of mobile robots realizing the transition between different stable and unstable formation profiles.