Non-collocated observer based control design for PDE-based multi-agent deployment
Huiyang Song, Zhiji Han, Zhijie Liu, Guang Li, Wei He · 2022 13th Asian Control Conference (ASCC) · 2022
In this paper, we deal with the control method to achieve the deployment of a multi-agent system to reach the desired curve in a three-dimensional space. A heat equation is used to model the closed-loop system where the states are the relative positions of the agents with respect to the desired curve. Since it is generally impractical to obtain the state information of all agents, we propose a non-collocated observer to estimate the states of the multi-agent system. By adjusting the values of the controller gain and the observer gain, we can achieve the desired deployment. Ultimately, the simulation proves the validity of the presented approach.