Design of synchronising controllers

• Applicant: Professor Dr.-Ing. Jan Lunze
• Subject Area: Automation, Mechatronics, Control Systems, Intelligent Technical Systems, Robotics
• Term: from 2012 to 2019
• Project identifier: Deutsche Forschungsgemeinschaft (DFG) - Project number 220654439

The task of synchronizing autonomous agents can be solved by a networked controller that steers the agents towards a common trajectory. In the extensive literature on synchronization of multiagent systems usually asymptotic synchronization of identical agents is investigated. This projectconsiders synchronization as a control problem, where in addition to the requirement on asymptotic synchronization, requirements on the transient behavior and disturbance rejection of the overall system are specified. In the first time period of support design methods for the synchronization ofagents with identical dynamics have been developed. The networked controller was obtained as the solution of an optimization problem, where the objective function was chosen so as to reflect the transient behavior of the agents. In the time period of the present request for support, methods forthe synchronization of agents with individual dynamics have to be developed. These methods have to be modified for the design of synchronizing controllers for multi-agent systems with a changing number of agents as well as for systems with event-based communication. The design methodswill be approved in simulations and experiments by application to a formation of mobile robots.

• DFG Programme: Research Grants