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Distributed Formation Control Of Multi-agent Systems Based On Consensus Protocols

Posted on:2011-10-16Degree:MasterType:Thesis
Country:ChinaCandidate:N N HanFull Text:PDF
GTID:2198330338990913Subject:Control theory and control engineering
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With the good scalability and strong fault tolerance, multi-agent systems are wildly used in many areas, such as military and civilian sectors. In practice, the multi-agent systems are usually effected by many kinds of factors of extern circumstance, such as switching topologies, communication time delay and extern disturbance, which can induce the control performance, even destroy the stability of systems. So, the investigations of distributed formation control considering these constraints of practical circumstance are more important in practice. Base on the existed literatures, this paper investigates the distributed formation control of linear multi-agent systems.First, this paper investigates the distributed formation control of linear continuous multi-agent systems in undirected fixed topology. Considering the cases of zero communication time delay and constant communication time delay, the formation control protocols are designed. By using the Lyapunov stability theory, the sufficient conditions that the parameters satisfy are given to ensure the effectiveness of the designed protocols.Second, supposing that the velocity of the virtual leader can't be measured by followers in real time, the distributed observers are designed for each follower to estimate the leader's velocity, so the followers can keep consensus with the velocity of virtual leader while forming the desired formation under the designed observers and control protocols. The cases of switching topologies with zero time delay and fixed topology with time-varying time delay are both considered, and the sufficient conditions that their parameters satisfy to ensure their effectiveness are given.Then, aiming at the discrete-time first-order and second-order multi-agent systems, we design formation protocols to make the followers form the desired formation and keep consensus with the virtual leader's time-varying state. It is illustrated that, once there exist directed paths from the virtual leader to all followers, there must exist appreciate parameters to make the protocols effective. Also, it is proved that the tracking bounded error is proportion to the sampling period.Finally, for the discrete-time second-order multi-agent systems with extern disturbance, we design formation control protocols under the conditions of directed fixed topology and directed switching topologies. By using the H∞control theory, the sufficient conditions that the protocols satisfy the H∞index are given. It is shown that if the virtual leader is globally reachable, there must exist appreciate parameters satisfying the sufficient conditions.
Keywords/Search Tags:Multi-agent systems, Distributed formation control, Consensus, Leader-following topology, Communication time delay
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