Distributed Formation Tracking Control of Multi-Agent Systems with Collision Avoidance Based on Switched System Theory

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基本資料

Project title

Code/計畫編號

MOST109-2221-E029-026

Translated Name/計畫中文名

基於切換式系統理論之多代理人系統防碰撞分散式編隊追蹤控制

Project Coordinator/計畫主持人

Ming-Li Chiang

Funding Organization/主管機關

National Science and Technology Council

Department/Unit

Graduate Institute of Automation Technology, National Taipei University of Technology

Website

https://www.grb.gov.tw/search/planDetail?id=13517689

Year

2020

Start date/計畫起

01-08-2020

Expected Completion/計畫迄

31-07-2021

Bugetid/研究經費

860千元

ResearchField/研究領域

電子電機工程

本計畫旨在探討多代理人系統(Multi-Agent System，簡稱MAS)之分散式編隊追蹤控制問題。近來旋翼機之各項技術蓬勃發展且其用途非常廣泛，而多代理人系統之協同控制是其中非常關鍵的技術。本計畫將以分散式通訊為條件，探討兩個重要的問題。首先第一年將以切換式系統理論探討連通性問題並作為控制器設計之依據。維持系統通訊之連通性是實現分散式編隊控制之重要條件，然而在編隊運動過程中，通訊連結有可能因代理人之運動而改變。我們將運用切換式系統之理論來探討系統在具有通訊連結改變切換的狀況下，達成編隊控制目標之條件。此外，我們並將考慮平均停留時間的概念，發展當系統可能短暫失去連通性時，亦能達成控制目標之設計，並依此設計實現簡易的實體旋翼機系統用以驗證。計畫第二年我們將考慮代理人在編隊過程中避免碰撞之議題。現有文獻多以勢場的概念來強制代理人之間維持一定距離，然而若要維持系統之連通性，代理人之間的距離亦不能超過通訊範圍，因此整體控制器須將避免碰撞、維持連通性、編隊目標一起納入考量。上述做法的缺點在於各控制目標間可能會產生衝突而使系統之效率降低甚至無法收斂。我們將考慮切換式通訊連結之作法，藉由放寬某些特定時間連通性之限制來設計新型控制器，達到避碰與編隊追蹤之目標。本計畫主要創新特點可概述如下:更有效率之分散式編隊控制、切換式通訊連結與連通性條件之放寬、新型避免碰撞之演算法等。 In this research, we consider the problem of distributed formation tracking control of Multi-Agent System (MAS). Recently, rotor plane has been developed prosperously and has wide applications, where cooperative control of MAS is the key technology in this field. We will discuss two important problems in formation control of MAS with distributed communication. In the first year, we consider switched system theory for the connectivity issue and design the controller based on the derived criteria. Connected communication is an important condition for distributed formation control; however, the system may have different communication links in the formation process due to the movement of the agents. We will utilize the tools of switched system to discuss the conditions under which the control target can be achieved even when the communication link has switching. Moreover, with the concept of Mode-Dependent-Average-Dwell-Time (MDADT), it is possible to develop a controller such that when the connectivity is loss in a short period of time, we can still achieve the formation control. To validate our approach, we will implement a practical MAS by quadrotors and do some experiments. In the second year, we will consider the problem of collision avoidance. In the existing results, the artificial potential field is usually considered to force the agents to keep some distances between each other. Nonetheless, to maintain connectivity, the agents cannot be far away in case of exceeding the communication range. Thus, the controller for collision avoidance in the literature consider three parts, which are collision avoidance, connectivity preservation, and formation control, and integrate them together into the controller. Such approach may have the drawback of low formation efficiency due to goal conflictions and sometimes even leads to deadlock. Thus, we will consider the switched system approach and the relaxation of the connectivity by MDADT to design our formation with collision avoidance. The novelties and contributions of the research can be summarized as follows: a more efficient distributed formation controller, switching communication links and relaxation of the connectivity condition, and a new collision avoidance control algorithm.

Keyword(s)

多代理人系統
編隊控制
分散式控制
切換式系統
連通性
避免碰撞
Multi-Agent Systems
formation control
distributed control
switched systems
connectivity
collision avoidance

DSpace CRIS

Distributed Formation Tracking Control of Multi-Agent Systems with Collision Avoidance Based on Switched System Theory

基本資料

Description