Networked control of distributed-parameter systems

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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.