Robust Rendezvous of Heterogeneous Euler-Lagrange Systems on Packet-Switched NetworksRobustes Rendezvous von heterogenen Euler-Lagrange Systemen mithilfe paketvermittelnder Netzwerke

Abstract

Abstract A robust rendezvous controller design for multi-agent systems (MAS) is presented. The agents are modeled as Euler-Lagrange systems which exchange their position information on a packet-switched communication network, where the resulting communication delay is modeled in a distributed delay framework. A synthesis method for static position feedback controllers for these agents is proposed. It achieves rendezvous for uncertain communication delays with bounded average delay and for heterogeneous uncertain agent dynamics. The controllers only have to satisfy certain design conditions that relate sector bounds of the agent dynamics, Lipschitz bounds of the controllers, and the average communication delays of the network. A major advantage of the presented design condition is that the controller parameters depend only on the dynamics of the corresponding agent and the average communication delay to its neighbors, but not on the dynamics of the other agents or the delays in other parts of the network. This decentralized feature of the controller design is particularly useful for large and heterogeneous MAS. The performance of the controllers is illustrated by simulation.