Multi-agent deployment in 3-D via reaction–diffusion system with radially-varying reaction

© 2024 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license

Detalles Bibliográficos
Autores: Zhang, Jing, Vázquez Valenzuela, Rafael, Qi, Jie, Krstic, Miroslav
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2024
País:España
Institución:Universidad de Sevilla (US)
Repositorio:idUS. Depósito de Investigación de la Universidad de Sevilla
OAI Identifier:oai:idus.us.es:11441/156432
Acceso en línea:https://hdl.handle.net/11441/156432
https://doi.org/10.1016/j.automatica.2023.111491
Access Level:acceso abierto
Palabra clave:Backstepping
Boundary control
Radially-varying coefficient
Singular equations
Multi-agent system
Deployment
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spelling Multi-agent deployment in 3-D via reaction–diffusion system with radially-varying reactionZhang, JingVázquez Valenzuela, RafaelQi, JieKrstic, MiroslavBacksteppingBoundary controlRadially-varying coefficientSingular equationsMulti-agent systemDeployment© 2024 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND licenseThis paper considers the problem of the deployment of a set of agents distributed on a disk-shaped grid onto three-dimensional (3-D) profiles, by using a continuum approximation (valid in the limit for a large number of agents) and then a control methodology for partial differential equations (PDEs). The agents’ collective behavior is modeled by a pair of radially-varying diffusion–reaction PDEs in polar coordinates, whose state determines the agents’ position. Having a radially-varying reaction coefficient not only increases the challenge of kernel equations becoming singular in radius, but also brings more potential deployment manifolds. To stabilize and increase the convergence of the deployment, a boundary controller and a boundary observer are designed by combining an infinite-dimensional backstepping approach with a Fourier series decomposition technique, thus driving all agents to the desired profile. A key feature of the presented result is that the desired profile only needs to be known by the leaders, with the followers only needing to follow a simple control strategy which requires only the measurement of its current position and communication with its neighbors as defined by the multi-agent system topology. The method provides closed-loop exponential stability with any prescribed convergence rate in the L2 norm. Simulation tests are shown to prove the effectiveness of the proposed algorithm.Ministerio de Ciencia e Innovación TED2021-132099B-C33ElsevierIngeniería Aeroespacial y Mecánica de FluidosTEP-945: Ingeniería aeroespacialMinisterio de Ciencia e Innovación (MICIN). España2024info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfapplication/pdfhttps://hdl.handle.net/11441/156432https://doi.org/10.1016/j.automatica.2023.111491reponame:idUS. Depósito de Investigación de la Universidad de Sevillainstname:Universidad de Sevilla (US)InglésAutomatica, 161, 111491.TED2021-132099B-C33https://www.sciencedirect.com/science/article/pii/S000510982300660X?via%3Dihubinfo:eu-repo/semantics/openAccessoai:idus.us.es:11441/1564322026-06-17T12:51:07Z
dc.title.none.fl_str_mv Multi-agent deployment in 3-D via reaction–diffusion system with radially-varying reaction
title Multi-agent deployment in 3-D via reaction–diffusion system with radially-varying reaction
spellingShingle Multi-agent deployment in 3-D via reaction–diffusion system with radially-varying reaction
Zhang, Jing
Backstepping
Boundary control
Radially-varying coefficient
Singular equations
Multi-agent system
Deployment
title_short Multi-agent deployment in 3-D via reaction–diffusion system with radially-varying reaction
title_full Multi-agent deployment in 3-D via reaction–diffusion system with radially-varying reaction
title_fullStr Multi-agent deployment in 3-D via reaction–diffusion system with radially-varying reaction
title_full_unstemmed Multi-agent deployment in 3-D via reaction–diffusion system with radially-varying reaction
title_sort Multi-agent deployment in 3-D via reaction–diffusion system with radially-varying reaction
dc.creator.none.fl_str_mv Zhang, Jing
Vázquez Valenzuela, Rafael
Qi, Jie
Krstic, Miroslav
author Zhang, Jing
author_facet Zhang, Jing
Vázquez Valenzuela, Rafael
Qi, Jie
Krstic, Miroslav
author_role author
author2 Vázquez Valenzuela, Rafael
Qi, Jie
Krstic, Miroslav
author2_role author
author
author
dc.contributor.none.fl_str_mv Ingeniería Aeroespacial y Mecánica de Fluidos
TEP-945: Ingeniería aeroespacial
Ministerio de Ciencia e Innovación (MICIN). España
dc.subject.none.fl_str_mv Backstepping
Boundary control
Radially-varying coefficient
Singular equations
Multi-agent system
Deployment
topic Backstepping
Boundary control
Radially-varying coefficient
Singular equations
Multi-agent system
Deployment
description © 2024 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license
publishDate 2024
dc.date.none.fl_str_mv 2024
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv https://hdl.handle.net/11441/156432
https://doi.org/10.1016/j.automatica.2023.111491
url https://hdl.handle.net/11441/156432
https://doi.org/10.1016/j.automatica.2023.111491
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Automatica, 161, 111491.
TED2021-132099B-C33
https://www.sciencedirect.com/science/article/pii/S000510982300660X?via%3Dihub
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:idUS. Depósito de Investigación de la Universidad de Sevilla
instname:Universidad de Sevilla (US)
instname_str Universidad de Sevilla (US)
reponame_str idUS. Depósito de Investigación de la Universidad de Sevilla
collection idUS. Depósito de Investigación de la Universidad de Sevilla
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,301603

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