Cooperative Control Of Distributed Parameter Multi-agent Systems

Large-scale multi-agent systems are an array of collective behavior of intelligent groups in nature.Macroscopically,the systems have the characteristic of ”fluid”,which can be modeled as distributed parameter systems.For this reason,the large-scale multiagent systems based on the distributed parameter system model can be called the distributed parameter multi-agent systems.The distributed parameter multi-agent systems have been extensively investigated,many applications have been found in different areas,such as multi-robot coordination,mobile sensor monitoring,crowd evacuation and other complex systems areas.Hence,the research of distributed parameter systems is profound scientific significance and application value.In this thesis,the cooperative control problem of the distributed parameter systems,the distributed parameter multi-agent systems and its application on mobile sensor networks have been investigated.The main contributions can be generalized as follows:1.The control problem is investigated for an array of nonlinear distributed parameter systems with randomly occurred missing measurements,actuator saturation,Markovian jumping.By utilizing Lyapunov direct method,combining the operator theory,the H?controllers are designed,where some analysis results on the existence of stability conditions in terms of linear operator inequalities.The stability of system is also depend on the velocity control scheme of mobile sensors when the system is measured by mobile sensors.The other problem is considered for the system is measured by fixed sensors.Then,the stability of system is presented in terms of linear matrix inequalities.Numerical examples are illustrated the effectiveness of the main results.2.The sampled-data control problem is proposed for a class of stochastic distributed parameter systems with time delay which dependent on a Markovian chain,where a new phenomenon,that is randomly occurring mobile sensor saturations is considered.By utilizing an input delay approach,combined with a novel Lyapunov function,the stability are discussed for the system and the sampled-data in time and in space controller is designed.Moreover,a new stabilization way is studied via mobile sampled in space controller which can ensure the system reach stable faster.The simulation results are shown that the performance of system control will be improved effectively by the measurement of mobile sensors.3.The distributed H?consensus filtering problem is investigated for a class of distributed parameter systems with multiple probabilistic data missing.By employing the Lyapunov functional method,combined with the operator semigroup theory as well as the stochastic analysis,both of globally asymptotically stable in the mean square and H?performance are analyzed for the filtering error system and a set of desired distributed H?consensus filter is designed.Also,the velocity control scheme of each mobile sensor can be obtained as the criteria of stability in the filtering error system.The numerical simulations are demonstrated that the performance of the filter is effectively improved by the mobile measurements.4.A new model framework of distributed parameter multi-agent systems is proposed for a class of large-scale multi-agent systems.Based on the model of heat equation,the finite-time consensus problem of multi-agent is studied where the non-smooth controller is taken into account.The framework of practical stability is considered for a class of reaction convection diffusion equation with Markovian jumping.Then,the formation is established in finite time boundedness for large-scale multi-agent and changing formation resulting from the Markovian switching of system parameters.Also,a variety of formation are concerned with the consensus control problem for an array of semi-linear diffusion equations and dynamic boundary controllers are designed.The simulation results are illustrated that the follower agents can reach the formation rapidly by leader agent in the distributed parameter model.5.The dynamical problem is discussed for an array of uncertain distributed parameter mobile sensor networks in terms of consensus.By using the operator semigroup theory,event-triggered observer-based output feedback control strategy is adopted to analyzed the global uniform ultimate bounded condition of large-scale mobile sensor networks with external disturbances and measurement noise.Moreover,a phenomenon of boundary perturbation is proposed for a class of distributed parameter mobile sensor networks.The stability condition of formation problem is obtained by means of a boundary control approach.Numerical simulations are shown that a variety of possible formation included in the system models.