Parabolic PDE-based multi-agent formation control on a cylindrical surface

被引:21
作者
Qi, Jie [1 ,2 ]
Tang, Shu-Xia [3 ]
Wang, Chuan [1 ,2 ]
机构
[1] Donghua Univ, Sch Informat Sci & Technol, Shanghai, Peoples R China
[2] Donghua Univ, Engn Res Ctr Digitized Text & Fash Technol, Minist Educ, Shanghai, Peoples R China
[3] Univ Calif San Diego, Dept Mech & Aerosp Engn, San Diego, CA 92103 USA
基金
中国国家自然科学基金; 上海市自然科学基金;
关键词
Backstepping; multi-agent formation control; parabolic PDEs; boundary control; cylindrical surface; CONSENSUS PROBLEMS; STABILIZATION; COORDINATION; SYSTEMS; MODEL;
D O I
10.1080/00207179.2017.1308556
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper considers the modelling and control design of the multi-agent systems in the 3-D space. The communication graph of the agents is a mesh-grid 2-D cylindrical surface. Different from most existing literatures, where the agents are modelled by ordinary differential equations (ODEs), we treat the agents as a continuum in this paper. More specifically, we model the collective dynamics of the agents by two reaction-advection-diffusion 2-D partial differential equations (PDEs). The PDE states represent the agent positions, and the equilibria correspond to possible formation manifolds. These PDEs can be open-loop unstable, and the boundary stabilisation problem of the PDEs on the cylindrical surface is solved using the backstepping method. An all-explicit observer-based output control scheme is constructed, which is distributed in the sense that each agent only needs local information. Closed-loop exponential stability in the L-2, H-1, and H-2 spaces is proved for the controller designs. Numerical simulations illustrate the effectiveness of our proposed approach.
引用
收藏
页码:77 / 99
页数:23
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