Design of synchronising controllers

同步控制器的设计

• 批准号: 220654439
• 负责人: Professor Dr.-Ing. Jan Lunze
• 金额: --
• 依托单位: Lehrstuhl für Automatisierungstechnik und Prozessinformatik
• 依托单位国家: 德国
• 项目类别: Research Grants
• 财政年份: 2012
• 资助国家: 德国
• 起止时间: 2011-12-31 至 2018-12-31
• 项目状态: 已结题
• 来源: https://gepris.dfg.de/gepris/projekt/220654439?language=en
• 关键词: Design; synchronising; controllers

The task of synchronizing autonomous agents can be solved by a networked controller that steers the agents towards a common trajectory. In the extensive literature on synchronization of multiagent systems usually asymptotic synchronization of identical agents is investigated. This projectconsiders synchronization as a control problem, where in addition to the requirement on asymptotic synchronization, requirements on the transient behavior and disturbance rejection of the overall system are specified. In the first time period of support design methods for the synchronization ofagents with identical dynamics have been developed. The networked controller was obtained as the solution of an optimization problem, where the objective function was chosen so as to reflect the transient behavior of the agents. In the time period of the present request for support, methods forthe synchronization of agents with individual dynamics have to be developed. These methods have to be modified for the design of synchronizing controllers for multi-agent systems with a changing number of agents as well as for systems with event-based communication. The design methodswill be approved in simulations and experiments by application to a formation of mobile robots.

同步自主代理的任务可以通过网络控制器来解决，该网络控制器将代理转向共同的轨迹。在大量的文献中，多智能体系统的同步通常是研究相同的智能体的渐近同步。该项目认为同步作为一个控制问题，其中除了对渐近同步的要求，对整个系统的瞬态行为和干扰抑制的要求被指定。在第一个时间段的支持设计方法的同步ofagents相同的动态已经开发。网络控制器作为一个优化问题的解决方案，其中的目标函数选择，以反映代理的瞬态行为。在本请求支持的时间段内，必须制定使代理与个人动态同步的方法。这些方法必须被修改为多代理系统的同步控制器的设计与不断变化的代理数量，以及基于事件的通信系统。设计方法将通过应用于移动的机器人编队的仿真和实验得到验证。

项目成果

Merging control of cooperative vehicles

协作车辆的并道控制

• DOI: 10.1016/j.ifacol.2016.08.026
• 发表时间: 2016
• 期刊: IFAC-PapersOnLine
• 作者: A. Mosebach;S. Röchner;J. Lunze
• 通讯作者: J. Lunze

Synchronization of Multi-Agent Systems with Similar Dynamics

• DOI: 10.3182/20130925-2-de-4044.00053
• 发表时间: 2013
• 期刊: IFAC Proceedings Volumes
• 作者: Andrej Mosebach;J. Lunze

A deterministic gossiping algorithm for the synchronization of multi-agent systems∗

• DOI: 10.1016/j.ifacol.2015.10.298
• 发表时间: 2015
• 期刊: IFAC-PapersOnLine
• 作者: Andrej Mosebach;J. Lunze

Synchronization of autonomous agents by an optimal networked controller

• DOI: 10.1109/ecc.2014.6862471
• 发表时间: 2014-06
• 期刊: 2014 European Control Conference (ECC)
• 作者: Andrej Mosebach;J. Lunze

Adaptive Cruise Control With Guaranteed Collision Avoidance

• DOI: 10.1109/tits.2018.2842115
• 发表时间: 2019-05-01
• 期刊: IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
• 影响因子: 8.5
• 作者: Lunze, Jan