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Analysis and Synthesis of Distributed Consensus-Based Controllers in Cooperative Systems

Atrianfar, Hajar | 2013

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  1. Type of Document: Ph.D. Dissertation
  2. Language: Farsi
  3. Document No: 45281 (05)
  4. University: Sharif University of Technology
  5. Department: Electrical Engineering
  6. Advisor(s): Haeri, Mohammad
  7. Abstract:
  8. Cooperative control of autonomous multi-agent systems is one of the challenging problems in control theory. According to existing enhancements in communication networks and broad application of multi-agent systems in various engineering fields, coordinated motion control in multi-agent systems has been attracted the attention of researchers in control science. In this thesis, flocking algorithms in multi-agent systems with undirected interactions (bidirectional information flow) is considered and new convergence results and final characteristics are obtained. Also, geometric optimization methods are used to propose a new optimization problem to reduce the number of informed agents of the leader’s state which makes the whole group to reach the desired flocking behavior. Applying directed interactions (unidirectional information flow) for velocity information is another topic which is considered in this thesis. In this regard, new flocking algorithms are designed in networks with directed and switching topologies and in networks of agents with bounded control input and nonlinear intrinsic dynamics. The convergence conditions of these algorithms are analyzed too.
    A comprehensive approach for solving the problem of static average consensus based on the direct and reverse interaction digraphs is proposed in a network consisting of first-order agents with continuous-time and discrete-time dynamics and directed and switching topologies. Also, benefiting this approach, consensus conditions are derived for networks in which topologies are not balanced at each time instant and are balanced over contiguous, bounded and non-overlapping time intervals. Consensus protocols are designed and investigated in a network of agents with second-order and high-order continuous-time dynamics that receive their delayed neighboring information synchronously. In these protocols information topologies are directed and switching and communication delays are assumed arbitrary and bounded. Sufficient conditions on information topology and appropriate control parameters are defined for consensus convergence. Finally, simulation results are included to illustrate the performance of proposed algorithms.
  9. Keywords:
  10. Delay ; Flocking ; Multiagent System ; Distributed Control ; High Order Systems ; Consensus Protocols ; Interaction Graph ; Graphs Switching ; Directed Interaction ; Balanced Interaction

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