Networked control of distributed-parameter systems

分布式参数系统的网络化控制

• 批准号: 461083137
• 负责人: Professor Dr.-Ing. Joachim Deutscher
• 金额: --
• 依托单位: Institut für Mess-, Regel- und Mikrotechnik (MRM)
• 依托单位国家: 德国
• 项目类别: Research Grants
• 资助国家: 德国
• 项目状态: 未结题
• 来源: https://gepris.dfg.de/gepris/projekt/461083137?language=en
• 关键词: Networked; control; distributed; parameter; systems

This research project considers the development of new methods for the networked control of multi-agent systems (MAS) with distributed-parameter agents. For this, the classical output regulation theory for distributed-parameter systems is extended to the so-called cooperative output regulation problem, which includes many cooperative control problems. Examples are the leader-follower output synchronization and the leader-less output synchronization. Starting from the results in preliminary work, the design of cooperative reference and disturbance observers for unknown and uncertain leaders and a diffusive disturbance coupling between the agents is considered. In order to take a large class of MAS into account, the new methods are developed both for PDE- and ODE-PDE agents. Then, the robust networked control of MAS for uncertain PDE agents is considered by making use of the cooperative internal model principle. The second part of the research project deals with the networked control of heterogeneous MAS subject to arbitrary communication delays. Firstly, predictor based methods are developed for ODE agents with known and unknown communication delays, which leads to ODE-PDE systems. Afterwards this result is extended to the design of PDE agents with communication delays. Consequently, a new and general approach for the networked control of a large class of MAS both with distributed- and lumped-parameter agents is obtained. In order to validate the applicability and usefulness of the new design procedures, the formation control of UAVs for the load transportation with heavy ropes is considered throughout the project.

本研究计画考虑发展具有分布参数代理的多代理系统（MAS）网路控制的新方法。为此，将经典的分布参数系统输出调节理论推广到所谓的合作输出调节问题，其中包括许多合作控制问题。例子是领导者-跟随者输出同步和领导者-无输出同步。从前期工作的结果出发，考虑了未知和不确定领导者和代理之间的扩散干扰耦合的合作参考和干扰观测器的设计。为了考虑到一个大类的MAS，新的方法开发的PDE和ODE-PDE代理。利用合作内模原理，研究了不确定PDE智能体的MAS鲁棒网络控制问题。第二部分研究了具有任意通信时延的异构MAS的网络控制问题。首先，基于预测器的方法开发的ODE代理与已知和未知的通信延迟，这导致ODE-PDE系统。然后将这一结果推广到具有通信延迟的PDE代理的设计中。因此，一个新的和一般的方法，网络控制的一个大类的MAS分布和集中参数代理。为了验证新的设计方法的适用性和实用性，在整个项目中考虑了无人机的编队控制，以用于重型绳索的载荷运输。