Robust Synchronisation of Multi-Agent Systems using the Parameter Space Approach
Lorenz Pyta, Frank Schrödel, Dirk Abel · 2019
In Multi-Agent Systems (MAS) one central goal is to come up with controller parameters, which synchronise the agents depending on the communication structure. The parameter space approach (PSA) on the other hand calculates analytically all parameter sets, for which a linear system performs stably. In this paper the PSA is extended toward application to MAS, to derive the set of all synchronising controller parameters. In doing so, the communication structure is exploited in such a way, that calculation time is greatly reduced. In addition, changes in the communication structure can be addressed in terms of a robust choice of the synchronising controller parameters. The practical example of platooning vehicles illustrates the effectiveness of the approach in simulation.