权益分类	功能权益	普通用户	{{item.name}}会员
{{category.name}}	{{benefitItem.name}}

Formation Control of Multi-Agent Systems using Continuum Models

使用连续体模型的多智能体系统编队控制

基本信息

批准号：
266006167
负责人：
Professor Dr.-Ing. Thomas Meurer
金额：
--
依托单位：
Institut für Mechanische Verfahrenstechnik und Mechanik (MVM)
依托单位国家：
德国
项目类别：
Research Grants
财政年份：
2015
资助国家：
德国
起止时间：
2014-12-31 至 2017-12-31
项目状态：
已结题

来源：
https://gepris.dfg.de/gepris/projekt/266006167?language=en
关键词：
Formation Control Multi Agent Systems

项目摘要

This project aims at developing new methods for decentralized formation planning and formation control of interconnected multi-agent systems based on continuum models. With this, contrary to the classical discrete approach, where the dynamics of the multi-agent system is determined by the specification of the communication topology and the relative weighting of the exchange data, the global system dynamics is a priori imposed in terms of partial (integro-) differential equations. Differing from the Eulerian perspective which is based on spatial and time-varying density distributions the proposed setting makes use of an explicit formulation in the agent position or velocity, respectively, with the independent spatial coordinate representing the continuous communication path. This distributed-parameter description of a multi-agent continuum serves as basis for control design with the desire to achieve finite time transitions between formation profiles along prescribed transition paths taking into account collision avoidance. For this, the project will focus on the extension and suitable combination of flatness-based methods for motion planning and feedforward control and backstepping methods for the stabilization of the tracking error dynamics. The consideration of continuum models implies independence of the design from the actual communication topology. The latter is imposed by proper structure-preserving discretization techniques which directly enable to realize the control design and the respective closed-loop dynamics at the level of interconnected individual agents. The developed methods will be evaluated based on simulation studies for actuator and sensor networks or swarms, respectively, as well as validated experimentally for a network of mobile robots.

本计画的目的是发展新的方法，以分散式队形规划与队形控制为基础，以连续统模型为基础，研究互连多智能体系统。与此相反，经典的离散方法，其中的多智能体系统的动态是由通信拓扑结构的规范和交换数据的相对权重确定的，全局系统动态是一个先验的偏（积分）微分方程。不同于基于空间和时变密度分布的欧拉观点，所提出的设置分别在代理位置或速度中使用显式公式，这种多智能体连续体的分布参数描述用作控制设计的基础，该控制设计期望在考虑到碰撞避免的情况下沿着沿着规定的过渡路径实现地层剖面之间的有限时间过渡。为此，该项目将侧重于扩展和适当组合的平坦度为基础的方法，运动规划和前馈控制和backstepping方法的跟踪误差动态稳定。连续模型的考虑意味着设计独立于实际的通信拓扑结构。后者是由适当的结构保持离散化技术，直接使实现控制设计和各自的闭环动态在互联的个人代理的水平。所开发的方法将进行评估的基础上，分别为致动器和传感器网络或群的仿真研究，以及实验验证的网络的移动的机器人。