Dissertation
SCALE-FREE COOPERATIVE CONTROL OF MULTI-AGENT SYSTEMS
Washington State University
Doctor of Philosophy (PhD), Washington State University
01/2021
DOI:
https://doi.org/10.7273/000002481
Handle:
https://hdl.handle.net/2376/122167
Abstract
The synchronization problem of multi-agent systems (MAS) has become a hot topic among researchers in recent years. Cooperative control of MAS is used in practical applications such as robot networks, autonomous vehicles, distributed sensor networks, swarming, flocking, and others. The objective of synchronization is to secure an asymptotic agreement on a common state or output trajectory by local interaction among agents.
Two classes of multi-agent systems have been identified: homogeneous (i.e. agents are identical) and heterogeneous (i.e. agents are non-identical). State synchronization inherently requires homogeneous MAS. On the other hand, for a heterogeneous MAS generically, it is more reasonable to consider output synchronization since the dimensions of states and their physical interpretation may be different. In heterogeneous MAS, if the agents have absolute measurements oftheir own dynamics in addition to relative information from the network, they are said to be introspective, otherwise, they are called non-introspective.
In practical applications, the network dynamics are not perfect and may be subject to input delays, communication delays, input saturation, and external disturbances. In this dissertation, synchronization, delayed, and almost synchronization of homogeneous and heterogeneous MAS have been studied in various circumstances. An innovative contribution of this dissertation is designing scale-free protocols to obviate the requirement for the knowledge of the communication networks. This feature allows the protocols to effectively work for any MAS regardless of the size of the network and the knowledge of the communication graph such as bounds on the spectrum of the associated Laplacian matrix and the number of agents.
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Details
- Title
- SCALE-FREE COOPERATIVE CONTROL OF MULTI-AGENT SYSTEMS
- Creators
- Donya Nojavanzadeh
- Contributors
- Ali Saberi (Advisor)Anton A. Stoorvogel (Committee Member)Zhenwei Liu (Committee Member)Thomas Robert Fischer (Committee Member)Saeed Lotfifard (Committee Member)
- Awarding Institution
- Washington State University
- Academic Unit
- Voiland College of Engineering and Architecture
- Theses and Dissertations
- Doctor of Philosophy (PhD), Washington State University
- Publisher
- Washington State University
- Number of pages
- 535
- Identifiers
- 99900606956601842
- Language
- English
- Resource Type
- Dissertation