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Average consensus in matrix-weight-balanced digraphs

This thesis investigates the average consensus of multi-agent systems with linear
dynamics whose interconnections are modelled by balanced digraphs with matrix-
weights. The thesis first introduces the notion of balanced digraphs and mirror
graphs for matrix weights. Then it proves that the matrix-weight-balanced con-
sensus controller is indeed globally asymptotically stable. The Lyapunov stability
analysis exploits the properties of the mirror graph of a balanced digraph. Further,
the necessary and sufficient condition for the system to achieve average consensus
is shown to be positive definiteness of the matrix weights of its balanced digraph.
Simulations with robots in SIMULINK verify that positive definite matrix weights
on balanced graphs are indeed necessary and sufficient for average consensus. Fi-
nally formation control of a multi-robot system is shown to be an application of the
matrix-weight-balanced consensus algorithm using real time simulation of Clearpath
Ridgeback robots in Gazebo and ROS. / Graduate

Identiferoai:union.ndltd.org:uvic.ca/oai:dspace.library.uvic.ca:1828/10711
Date11 April 2019
CreatorsAllapanda, Chinnappa Yogesh B.
ContributorsConstantinescu, Daniela
Source SetsUniversity of Victoria
LanguageEnglish, English
Detected LanguageEnglish
TypeThesis
Formatapplication/pdf
RightsAvailable to the World Wide Web

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