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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 56915 (06)
- University: Sharif University of Technology
- Department: Chemical and Petroleum Engineering
- Advisor(s): Shahrokhi, Mohammad
- Abstract:
- The objective of this research is designing a controller for the event-triggered control of multi-agent systems in the presence of common constraints. In this regard, an adaptive decentralized event-driven controller is designed for the agents of a multi-agent system. The dynamics of the agents are nonlinear and unknown and they are subject to external disturbances. This controller is capable of achieving the objective of consensus with the desired performance in the presence of sensor and actuator faults, input nonlinearity, input and output quantization, and unmeasured states. The stability of the closed-loop system has been established via Lyapuonov theory. The considered multi-agent system has a leader and it is desired that the output of all agents track the output of the leader. To design the controller, the backstepping technique has been employed and adaptation laws are proposed to estimate the parameters of sensor and actuator faults. Additionally, in order to avoid “explosion of complexity” in the backstepping method, neural networks are utilized. It is proven that the stability of the multi-agent system is guaranteed, and by selecting the design parameters appropriately, the tracking errors can be minimized. Finally, the performance of the proposed controller is evaluated through simulation by applying it to different multi-agent systems and acceptable results have been obtained
- Keywords:
- Multiagent System ; Decentralized Control ; Event-Triggered Control ; Sensor Fault ; Actuator Failure ; Input Nonlinearity ; Quantization ; Observer
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