Zusammenfassung
Dieser Beitrag behandelt das Containment-Control-Problem für lineare Multi-Agenten-Systeme (MAS) unter Verwendung von Kontinuumsmodellen. Bei diesem kooperativen Regelungsproblem muss ein Netzwerk-Regler für das MAS in Anwesenheit von Störungen bestimmt werden, welcher die Konvergenz der Agenten in einen durch die dynamischen Führungsagenten aufgespannten Bereich, der sogenannten Containment-Area, sicherstellt. Diese Aufgabenstellung wird auf eine Führungs- und Störgrößenaufschaltung für ein Kontinuumsmodell unabhängig von der Agentenanzahl zurückgeführt. Dabei können beliebige Agentenformationen, welche sich durch Bézierkurven beschreiben lassen, in der Containment-Area vorgegeben werden. Der zugehörige Entwurf eines Folgereglers erfolgt mittels des bilateralen Backsteppings, womit der Stellaufwand gezielt auf die beiden Randagenten verteilt werden kann. Die verteilte Lösung des Containment Problems ergibt sich durch einen Kontinuumssignalmodellbeobachter, welcher die Zustände des Führungs- und Störmodells an alle Agenten kommuniziert. Die zugehörige Kommunikationstopologie wird durch eine Ortsdiskretisierung eingeprägt. Ein Simulationsbeispiel veranschaulicht die neue Methode zum Netzwerkreglerentwurf.
Abstract
This paper deals with the containment control problem for linear multi-agent systems (MAS) using continuum models. In this cooperative control problem, a networked controller for the MAS must be determined, which ensures the convergence of the agents into an area spanned by dynamic leaders the so called containment area in the presence of disturbances. This task is traced back to an output regulation problem for a continuum model independent of the number of agents. Any agent formation, which can be described by a Bézier curve, can be specified to the followers in the containment area. The associated design of the tracking controller is carried out by means of bilateral backstepping, which allows to distribute the control effort between the two boundary agents. The distributed solution of the containment problem results from a continuum signal model observer, which communicates the states of the leader and disturbance model to all agents. The associated communication topology is imprinted by a spatial discretization. A simulation example illustrates the new method for the networked controller design.
About the authors
Nick Jung, M.Sc., ist wissenschaftlicher Mitarbeiter am Institut für Mess-, Regel- und Mikrotechnik der Universität Ulm in der Forschungsgruppe von Prof. Deutscher. Hauptarbeitsgebiet ist der Entwurf von Netzwerkregler für Multi-Agenten-Systeme, basierend auf Kontinuumsmodellen.
Prof. Dr.-Ing. habil. Joachim Deutscher ist Professor für Mess- und Regelungstechnik am Institut für Mess-, Regel- und Mikrotechnik der Universität Ulm. Hauptarbeitsgebiete: Backstepping-Methoden und output regulation für verteilt-parametrische Systeme, Multi-Agenten-Systeme sowie datenbasierte Regelungen.
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Research ethics: Not applicable.
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Author contributions: The authors have accepted responsibility for the entire content of this manuscript and approved its submission.
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Competing interests: The authors state no conflict of interest.
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Research funding: None declared.
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Data availability: Not applicable.
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