Funnel formation control for multi-agent systems and its application to satellite formation flight

多智能体系统漏斗编队控制及其在卫星编队飞行中的应用

• 批准号: 524064985
• 负责人: Professor Dr. Thomas Berger
• 金额: --
• 依托单位: Arbeitsgruppe Systemtheorie
• 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/524064985?language=en
• 关键词: Funnel; formation; control; multi; agent

The objective of the proposed research project is the development, numerical implementation and analysis of the novel decentralized control concept Funnel Formation Control (FFC) for multi-agent systems. This method is able to guarantee the evolution of the inter-agent distances within a prescribed range. Additionally, it achieves collision avoidance and velocity synchronization with prescribed performance in the context of so-called “flocking”. As a particular challenge, we consider heterogeneous agents with nonlinear dynamics. Furthermore, the dynamics and initial states of the agents are not assumed to be known, apart from some structural information such as the order of the underlying differential equation. To realize these ambitious goals we utilize methods from funnel control, which is a current research area in control engineering and mathematical systems theory, and it successfully balances theory and application. The funnel controller is able to guarantee the evolution of the output variables within a prespecified margin. This allows for a controller design independent of the specific system parameters, which therefore exhibits inherent robustness properties. The desired control strategy consists of three components: 1.) In the first formation control part the desired position of each agent in the formation is constructed geometrically and used as a reference signal in a recent funnel control method. The FFC constructed in this way achieves that each agent attains its desired position with prescribed performance. Additionally, an input filter is used to avoid the measurements of velocities. 2.) In a second step the FFC is expanded by an additional controller component, which achieves collision avoidance. This component is again based on funnel control techniques. For this combination, feasibility and robustness are to be proved rigorously. 3.) In the last step the collision-avoiding FFC is combined with a so-called edge-wise funnel coupling law, which achieves synchronization of the velocities of the agents with prescribed performance. In this way it is expected to achieve the ultimate objective of flocking with prescribed behavior of the agents. As a proof of concept, the application to satellite formation flight is considered, where each satellite is described by a nonlinear differential equation of second order. In the course of this, the performance and implementability of the developed control methods is to be constantly verified by means of simulation studies. This supports the selection of suitable controller design parameters and thus ensures a continuous feedback between theory and numerical practice.

该研究项目的目标是开发、数值实现和分析用于多智能体系统的新型分散控制概念漏斗队形控制(FFC)。该方法能够保证智能体间距离在规定的范围内演化。此外，它还实现了具有规定性能的碰撞避免和速度同步，这就是所谓的“植绒”。作为一个特殊的挑战，我们考虑了具有非线性动力学的异质代理。此外，除了一些结构信息，如基本微分方程式的阶数外，并不假定代理人的动力学和初始状态是已知的。为了实现这些雄心勃勃的目标，我们采用了漏斗控制的方法，这是当前控制工程和数学系统理论的一个研究领域，它成功地平衡了理论和应用。漏斗控制器能够保证输出变量在预定范围内的演化。这允许控制器设计独立于特定的系统参数，因此表现出固有的稳健性。理想的控制策略由三个部分组成：1)在第一队形控制部分中，几何地构造每个药剂在队形中的期望位置，并在最近的漏斗控制方法中将其用作参考信号。以这种方式构造的FFC实现了每个代理以规定的性能达到其期望的位置。此外，还使用了输入滤波器来避免速度测量。2.)在第二步中，通过附加的控制器组件来扩展FFC，这实现了冲突避免。该组件同样基于漏斗控制技术。对于这种组合，必须严格证明其可行性和稳健性。3.)在最后一步中，将避免碰撞的FFC与所谓的边缘漏斗耦合律相结合，实现了具有指定性能的智能体的速度同步。通过这种方式，期望达到以代理人的规定行为进行聚集的最终目标。作为概念的证明，考虑了它在卫星编队飞行中的应用，其中每颗卫星都用一个二阶非线性微分方程来描述。在此过程中，所开发的控制方法的性能和可实施性将通过仿真研究的方式不断得到验证。这为选择合适的控制器设计参数提供了支持，从而确保了理论和数值实践之间的持续反馈。