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.


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    Titel :

    Local Controller Synthesis for Multi-Agent Systems Subject to Time-Varying Communication Delays


    Beteiligte:
    Pilz, U. (Autor:in) / Werner, H. (Autor:in)


    Erscheinungsdatum :

    2010


    Format / Umfang :

    6 Seiten, 23 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch





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