PDE‐based containment control of linear multi‐agent systems
Year: 2024
Type: article
Abstract: This contribution considers the containment control problem for linear multi‐agent systems (MAS) using continuum models in form of linear parabolic PDEs. For this, a networked controller is designed, that ensures the asymptotic convergence of finite‐dimensional agents into a containment area specified by dynamic leaders. This problem is traced back to an output regulation problem for a continuum model independent of the number of agents, which also takes disturbances into account. A prescribed formation is assigned for the MAS in the containment area by using Bézier curves. Using bilateral backstepping a tracking controller is designed, which allows to distribute the control effort between the two boundary agents. The states are estimated by an infinite‐dimensional disturbance observer. For this, both a folding observer with network communication and two boundary observers without network communication are introduced. A fully distributed solution of the containment control problem is obtained by employing a continuum signal model observer, which communicates the states of the leader and disturbance model to all agents. The desired communication topology is imposed after the design by a spatial discretization. A simulation example illustrates the effectiveness of the new method for the networked controller design.
DOI: 10.1002/rnc.7649
Authors: Joachim Deutscher, Nick Jung
Institution: Universität Ulm
Language: English
Subfield: Computer Networks and Communications
Field: Computer Science
Domain: Physical Sciences
Open Access status: hybrid
Estimated APC paid: $4,270
OpenAlex ID: W4402889784