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Developing Control Strategies for Consensus and Coverage in Multi-Agent Systems

Doostmohammadian, Mohammad Reza | 2009

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 40106 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Sayyaadi, Hassan
  7. Abstract:
  8. Over the past few years there has been a rapidly growing interest in analysis, design and optimization of various types of collective behaviors in networked dynamic systems. Collective phenomena (such as flocking, schooling, rendezvous, synchronization, and agreement) have been studied in a diverse set of disciplines. In many applications involving multi-agent systems, groups of agents are required to agree on certain quantities of interest; in other words, it is important to develop information consensus protocols for networks of dynamic agents. There are many practical situations where it is desirable or even required to achieve stable convergence in finite-time domain. In this work, a simple distributed continuous-time protocol is introduced that guarantees finite-time consensus in networks of autonomous agents. Protocol convergence in weighted directed/undirected and fixed/switching networks is explored based on Lyapunov analysis. Stability of the system and solvability of the consensus algorithm is proved for network topologies that contain a spanning tree frequently enough over non-overlapping time intervals. The decision value for different graph topologies and for multi-rate integrator agents is investigated and a novel approach is proposed to determine the subgroup of leader agents. Performance in presence of communication time-delays is addressed in this work. Additionally, a new consensus protocol is proposed with limited-gain control input called “Saturation Consensus”. This is to account for the physical limitation of control actuation devices that in general, they are subject to amplitude saturation.
  9. Keywords:
  10. Multiagent System ; Spanning Tree ; Cooperative Control ; Consensus ; Time-Varying Structure ; Saturation Consensus

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