Networked control of distributed-parameter systems

本研究项目考虑了使用分布参数智能体的多智能体系统（MAS）网络控制新方法的发展。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，其中包含了许多合作控制问题。例如leader-follower输出同步和leader-less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的协同参考和干扰观测器的设计，以及agent之间的扩散干扰耦合。为了考虑更大类别的MAS，我们开发了PDE-和ODE-PDE代理的新方法。然后，利用协同内模型原理，研究了不确定PDE智能体的MAS鲁棒网络化控制问题。研究项目的第二部分涉及受任意通信延迟影响的异构MAS的网络化控制。首先，针对具有已知和未知通信延迟的ODE代理开发了基于预测器的方法，从而形成了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，得到了一种新的、通用的方法来对具有分布参数和集中参数代理的大型MAS进行网络化控制。为了验证新设计程序的适用性和实用性，在整个项目中都考虑了无人机重绳载荷运输的编队控制问题。

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.