Consensus is a central issue in designing multi-agent systems (MASs). How to design
control protocols under certain communication topologies is the key for solving
consensus problems. This thesis is focusing on investigating the consensus protocols
under different scenarios: (1) The second-order system dynamics with Markov time
delays; (2) The Euler-Lagrange dynamics with uniform and nonuniform sampling
strategies and the event-based control strategy.
Chapter 2 is focused on the consensus problem of the multi-agent systems with
random delays governed by a Markov chain. For second-order dynamics under the
sampled-data setting, we first convert the consensus problem to the stability analysis
of the equivalent error system dynamics. By designing a suitable Lyapunov function
and deriving a set of linear matrix inequalities (LMIs), we analyze the mean square
stability of the error system dynamics with fixed communication topology. Since
the transition probabilities in a Markov chain are sometimes partially unknown, we
propose a method of estimating the delay for the next sampling time instant. We explicitly give a lower bound of the probability for the delay estimation which can ensure
the stability of the error system dynamics. Finally, by applying an augmentation
technique, we convert the error system dynamics to a delay-free stochastic system. A
sufficient condition is established to guarantee the consensus of the networked multi-agent
systems with switching topologies. Simulation studies for a fleet of unmanned
vehicles verify the theoretical results.
In Chapter 3, we propose the consensus control protocols involving both position
and velocity information of the MASs with the linearized Euler-Lagrange dynamics,
under uniform sampling and nonuniform sampling schemes, respectively. Then we
extend the results to the case of applying the centralized event-triggered strategy, and
accordingly analyze the consensus property. Simulation examples and comparisons
verify the effectiveness of the proposed methods. / Graduate / 0548
| Identifer | oai:union.ndltd.org:uvic.ca/oai:dspace.library.uvic.ca:1828/4645 |
| Date | 30 May 2013 |
| Creators | Mu, Bingxian |
| Contributors | Shi, Yang |
| Source Sets | University of Victoria |
| Language | English, English |
| Detected Language | English |
| Type | Thesis |
| Rights | Available to the World Wide Web |
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