Delay Consensus Margin of Multi-Agent Systems with Non-Identical Agents

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Heydari, Erfan | 2024

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 57134 (05)
University: Sharif University of Technology
Department: Electrical Engineering
Advisor(s): Tavazoei, Mohammad Saleh
Abstract:
This thesis studies the margin of delay consensus for multi-agent systems with different agents to achieve robust consensus with respect to uncertain delays that vary in a range. This thesis tries to answer the question “What is the largest delay range in which a control protocol is able to achieve and maintain consensus?”. In this thesis, a multi-agent system with different agents is considered under a directed communication graph. After examining the multi-agent system with different agents which communicate through a directed graph, the scenario without delay will be analyzed and conditions will be extracted which are necessary and sufficient to reach consensus and then a delay margin for achieving consensus will be achieved
Keywords:
Multi-Agent Systems Consensus ; Multiagent System ; Consensus Algorithms ; Delay ; Delay Consensus Margin

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