Analysis of Control Algorithms for Cooperative Systems Using Matrix Theory

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Kalantari, Masoud |

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 41303 (05)
University: Sharif University of Technology
Department: Electrical Engineering
Advisor(s): Haeri, Mohammad
Abstract:
Consensus is the equality of desired states of agents. These states could be position, movement direction or other variables of agents. So far, different control algorithms are introduced which provide agents with consensus. In fact, one of the most significant topics in cooperative systems is the problem of determining the control algorithm so that agents reach consensus. These algorithms are called consensus algorithms. Properties of system matrices play an important role in consensus algorithms and analysis of their convergence. In this thesis, two consensus algorithms are presented for networks with fixed and switching topology respectively. In these algorithms an input signal is considered for each agent and convergence of agents is proved with respect to system matrices properties and agents dynamic. It is shown that using the proposed consensus algorithm for networks with fixed topology, one can control the consensus point by setting initial values of agents’ inputs. For networks with switching topology the proposed control algorithm solves the average consensus problem and makes agents’ states converge to average value of initial states
Keywords:
Matrix Theory ; Cooperative Control ; Cooperation System

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