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Local controller synthesis for multi-agent systems subject to time-varying communication delays
Publikationstyp
Conference Paper
Date Issued
2010
Sprache
English
Author(s)
Institut
Start Page
3098
End Page
3103
Article Number
5718064
Citation
Proceedings of the IEEE Conference on Decision and Control: 5718064 3098-3103 (2010)
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
IEEE
In this paper we investigate the robust controller design problem for a Multi-Agent System (MAS). The agents are modeled as identical LTI systems and the way in which they exchange information is modeled by a directed graph. The communication structure may be subject to changes and is affected by time-varying delays. Moreover, the communication delays may also affect an agent's own outputs. We extend an approach of synthesizing a controller that stabilizes arbitrarily switching communication topologies by robustifying the controller with respect to unknown and time-varying but bounded communication delays. To improve the performance of the controller, we introduce a prediction scheme using non-causal uncertainty blocks. The results are illustrated by a comparison of a simulated formation flight of quad-rotor helicopters.
DDC Class
600: Technik
620: Ingenieurwissenschaften