Sharif Digital Repository

In this work, we study the flocking problem of multi-agent systems with uncertain dynamics subject to actuator failure and external disturbances. By considering some standard assumptions, we propose a robust adaptive fault tolerant protocol for compensating of the actuator bias fault, the partial loss of actuator effectiveness fault, the model uncertainties, and external disturbances. Under the designed protocol, velocity convergence of agents to that of virtual leader is guaranteed while the connectivity preservation of network and collision avoidance among agents are ensured as well. © 2017 ISA  

This paper proposes distributed optimal attitude consensus control for single-integrator multi rigid bodies with undirected network evolving on Special Orthogonal Group SO(3) while simultaneously guarantees the connectivity preservation property for agents using descent gradient algorithm. Since by Use of the Euclidean distance on Lie group as a measure of the energy of the state does not define and preserve the topology of SO(3); besides, solving the Hamilton–Jacobi–Bellman equation in optimal control problems shows difficulty implementing Euclidean distances and limits the results for SO(3) configuration state spaces. As a result, in this paper, the generic distance on SO(3) associated to... 

High reliability and low power consumption are the critical objectives in wireless networks and the network topology is an effective issue in these objectives. This paper investigates these two objectives in the wireless multi-hop networks simultaneously. For this purpose, a connected dominating set CDS-based topology control approach is proposed. In this approach a distributed topology control algorithm with different power adjustment measures is suggested. Our goal is to self-organize this network with minimum interference and power consumption subject to connectivity preservation. Unlike many reliability enhancement algorithms, the proposed mechanism does not compromise power consumption....