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Discontinuous dynamical systems and multiagent systems are encountered in numerous engineering applications. This dissertation develops stability and dissipativity of nonlinear dynamical systems with discontinuous right-hand sides, optimality of discontinuous feed-back controllers for Filippov dynamical systems, almost consensus protocols for multiagent systems with innaccurate sensor measurements, and adaptive estimation algorithms using multiagent network identifiers. In particular, we present stability results for discontinuous dynamical systems using nonsmooth Lyapunov theory. Then, we develop a constructive feedback control law for discontinuous dynamical systems based on the existence of a nonsmooth control Lyapunov function de fined in the sense of generalized Clarke gradients and set-valued Lie derivatives. Furthermore, we develop dissipativity notions and extended Kalman-Yakubovich-Popov conditions and apply these results to develop feedback interconnection stability results for discontinuous systems. In addition, we derive guaranteed gain, sector, and disk margins for nonlinear optimal and inverse optimal discontinuous feedback regulators that minimize a nonlinear-nonquadratic performance functional for Filippov dynamical systems. Then, we provide connections between dissipativity and optimality of nonlinear discontinuous controllers for Filippov dynamical systems. Furthermore, we address the consensus problem for a group of agent robots with uncertain interagent measurement data, and show that the agents reach an almost consensus state and converge to a set centered at the centroid of agents initial locations. Finally, we develop an adaptive estimation framework predicated on multiagent network identifiers with undirected and directed graph topologies that identifies the system state and plant parameters online.

The purpose of this thesis is to generalize Filippov's operation, and to get more useful results. It includes two main parts: The C-Filippov operation for the finite and countable cases and the Filippov operation with different measures. In the first chapter, we give brief information about the importance of Filippov's operation, our goal and the ideas behind our generalizations. In the second chapter, we give some sufficient background notes. In the third chapter, we introduce the Filippov operation, explain how to calculate the Filippov of a function and give some sufficient properties of it. In the fourth chapter, we introduce a generalization of the Filippov operation, the C-Filippov, and give some of its properties which we need for the next chapter. In the fifth chapter, in the first main part, we discuss some properties of the C-Filippov for special cases and observe the differences and common properties between the Filippov and C-Filippov operations. Finally, in the sixth chapter, we present the other generalization of the Filippov operation which is Filippov with different measures. We observe the properties of the corresponding Filippovs when we know the relationship between the measures. We finish the thesis by summarizing our work and discussing future work.

A multiple-valued function is a "function" that assumes two or more distinct values in its range for at least one point in its domain. While these "functions" are not functions in the normal sense of being single-valued, the usage is so common that there is no way to dislodge it. This thesis is devoted to a particular class of multiple-valued functions: Q-valued functions. A Q-valued function is essentially a rule assigning Q unordered and not necessarily distinct points of R^n to each element of R^m. This object is one of the key ingredients of Almgren's 1700 pages proof that the singular set of an m-dimensional mass minimizing integral current in R^n has dimension at most m-2. We start by developing a decomposition theory and show for instance when a continuous Q-valued function can or cannot be seen as Q "glued" continuous classical functions. Then, the decomposition theory is used to prove intrinsically a Rademacher type theorem for Lipschitz Q-valued functions. A couple of Lipschitz extension theorems are also obtained for partially defined Lipschitz Q-valued functions. The second part is devoted to a Peano type result for a particular class of nonconvex-valued differential inclusions. To the best of the author's knowledge this is the first theorem, in the nonconvex case, where the existence of a continuously differentiable solution is proved under a mere continuity assumption on the corresponding multifunction. An application to a particular class of nonlinear differential equations is included. The third part is devoted to the calculus of variations in the multiple-valued framework. We define two different notions of Dirichlet nearly minimizing Q-valued functions, generalizing Dirichlet energy minimizers studied by Almgren. Hölder regularity is obtained for these nearly minimizers and we give some examples showing that the branching phenomena can be much worse in this context.

by Yan Shing. / Thesis (M.Phil.)--Chinese University of Hong Kong, 1999. / Includes bibliographical references (leaves 78-80). / Abstract also in Chinese. / Chapter 1 --- Admissible Points of Convex Sets --- p.7 / Chapter 1.1 --- Introduction and Notations --- p.7 / Chapter 1.2 --- The Main Result --- p.7 / Chapter 1.2.1 --- The Proof of Theoreml.2.1 --- p.8 / Chapter 1.3 --- An Application --- p.10 / Chapter 2 --- A Generalization on The Theorems of Admissible Points --- p.12 / Chapter 2.1 --- Introduction and Notations --- p.12 / Chapter 2.2 --- Fundamental Lemmas --- p.14 / Chapter 2.3 --- The Main Result --- p.16 / Chapter 3 --- Introduction to Variational Inequalities --- p.21 / Chapter 3.1 --- Variational Inequalities in Finite Dimensional Space --- p.21 / Chapter 3.2 --- Problems Which Relate to Variational Inequalities --- p.25 / Chapter 3.3 --- Some Variations on Variational Inequality --- p.28 / Chapter 3.4 --- The Vector Variational Inequality Problem and Its Relation with The Vector Optimization Problem --- p.29 / Chapter 3.5 --- Variational Inequalities in Hilbert Space --- p.31 / Chapter 4 --- Vector Variational Inequalities --- p.36 / Chapter 4.1 --- Preliminaries --- p.36 / Chapter 4.2 --- Notations --- p.37 / Chapter 4.3 --- Existence Results of Vector Variational Inequality --- p.38 / Chapter 5 --- The Generalized Quasi-Variational Inequalities --- p.44 / Chapter 5.1 --- Introduction --- p.44 / Chapter 5.2 --- Properties of The Class F0 --- p.46 / Chapter 5.3 --- Main Theorem --- p.53 / Chapter 5.4 --- Remarks --- p.58 / Chapter 6 --- A set-valued open mapping theorem and related re- sults --- p.61 / Chapter 6.1 --- Introduction and Notations --- p.61 / Chapter 6.2 --- An Open Mapping Theorem --- p.62 / Chapter 6.3 --- Main Result --- p.63 / Chapter 6.4 --- An Application on Ordered Normed Spaces --- p.66 / Chapter 6.5 --- An Application on Open Decomposition --- p.70 / Chapter 6.6 --- An Application on Continuous Mappings from Order- infrabarreled Spaces --- p.72 / Bibliography

Autonomous aerial transportation has multiple potential applications including emergency cases and rescue missions where ground intervention may be difficult. In this context, the following work will address the control of multi-agent Vertical Take-off and Landing aircraft (VTOL) transportation system. We develop a decentralized method. The advantage of such a solution is that it can provide better maneuverability and lifting capabilities compared to existing systems. First, we consider a cooperative group of VTOLs transporting one payload. The main idea is that each agent perceive the interaction with other agents as a disturbance while assuming a negotiated motion model and imposing certain magnitude bounds on each agent. The theoretical model will be then validated using a numerical simulation illustrating the interesting features of the presented control method. Results show that under specified disturbances, the algorithm is able to guarantee the tracking with a minimal error. We describe a toolbox that has been developed for this purpose. Then, a system of multiple VTOLs lifting payloads will be studied. The algorithm assures that the VTOLs are coordinated with minimal communication. Additionally, a novel gripper design for ferrous objects is presented that enables the transportation of ferrous objects without a cable. Finally, we discuss potential connections to human in the loop transportation systems.

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Thesis (Ph. D.)--University of Washington, 1999. / Vita. Includes bibliographical references (p. 87-91).

Thesis (Ph. D.)--University of Washington, 1999. / Vita. Includes bibliographical references (p. 85-91).

Orientador: Maria Sueli Marconi Roversi / Dissertação (mestrado) - Universidade Estadual de Campinas, Instituto de Matematica, Estatistica e Computação Cientifica / Made available in DSpace on 2018-08-04T02:57:42Z (GMT). No. of bitstreams: 1 Piccoli_Bibiana_M.pdf: 1524742 bytes, checksum: 4328a3e766798f219a0267cdf6e892b7 (MD5) Previous issue date: 2005 / Resumo: Estudamos um tipo especial de função denominada função ponto a conjunto, que associa a cada elemento de um espaço métrico um único subconjunto não vazio de outro espaço métrico. A noção de continuidade das funções usuais caracterizada por propriedades equivalentes, enun-ciadas em termos de vizinhanças ou em termos de seqüências, deram origem a versões corres-pondentes para as funções ponto a conjunto. As propriedades adaptadas, não mais equivalentes, são conhecidas como semicontinuidade superior e semicontinuidade inferior, respectivamente. Uma condição do tipo Lipschitz e um tipo de continuidade propriamente, obtido munindo-se o contradomínio da métrica de Hausdorff, foram relacionados à semicontinuidade. Algumas propriedades algébricas ou topológicas dos conjuntos imagem foram essenciais para os resulta-dos obtidos. Abordamos adaptações de alguns resultados clássicos da análise funcional como os teoremas da limitação uniforme, da aplicação aberta e do gráfico fechado para as funções ponto a conjunto caracterizadas como processos convexos, que são os análogos dos operadores lineares. Estabelecemos também uma versão do teorema de Schauder sobre pontos fixos para funções ponto a conjunto e também para as do tipo contração / Abstract: We study a mapping called a set-valued map which associates with each point of a metric space a non empty subset of another metric space. In the case of single-valued maps, contin-uous functions are characterized by two equivalent properties: one in terms of neighborhood and other in terms of sequences. These two properties can be adapted to the case of set-valued maps, are no longer equivalent and are called upper semi continuity and lower semi continuity, respectively. We adapt to the set-valued case the concept of Lipschitz applications and also a type of continuity when the range is enjoyed with the Hausdorff metric. We related them with the conditions of semi continuity. Some of the results depends on algebraic or topological prop-erties of the images. We adapt to closed convex process the principIe of uniform boundedness, the Banach open mapping and closed graph theorems. The closed convex processes are the set-valued analogues of continuous linear operators. We also establish two fixed point result for set-valued maps: the first generalizes the Schauder fixed point theorem and the second considers that of contraction type / Mestrado / Matematica / Mestre em Matemática