Delay-induced Consensus In Multi-agent Systems And Its Application In Platooning

With the development and information fusion of control science,computer science,sense technology and other academic fields,the research of multi-agent systems has been a hot area in many realm such as mathematics,biology and artificial intelligence.Consensus is the fundamental problem of cooperative control in multi-agent systems.Based on the significance of consensus researching,delay-induced consensus and its application in platooning are studied.The main contents and results of this dissertation are summarized as follows:Firstly,a delay-induced consensus protocol is presented for second-order multi-agent system.Two kinds of methods are employed to ensure the stability of the system.It is well-known that time delay is considered as a destructive character due to that it will probably cause periodic oscillations.However,in our dissertation,artificial delay has a stabilizing effect.Moreover,the existing classical methods for multi-agent formation and obstacle avoidance are summarized.Secondly,delay-induced consensus in platooning is developed.Due to different types of delay,including fixed time delay,time-varying delay and communication delay,the detailed analysis are given respectively.In practice,communication failures and recovery may happen occasionally,which leads to the topology switching.Therefore,switching network topologies well describe the real dynamic situation of platooning and the analysis of switching topology is given in the dissertation.Moreover,numerical simulations are given to demonstrate the effectiveness of the proposed approach.Thirdly,on the basis of theoretical analysis,the experimental platform of multi-agent cooperative control is introduced afterwards.And the experimental platform is composed of four parts: the agent subsystem,communication subsystem,positioning subsystem and control algorithm subsystem.E-puck intelligent vehicle imported from Switzerland is selected as the research object.To achieve the communication between intelligent vehicles,a new module of Wi Fi is designed.After comparing the advantages and disadvantages of a series of positioning mode,Vicon dynamic visual capture system is adopted as the positioning subsystem.Besides,the algorithm of control subsystem is the one that has been introduced in the previous chapters of this dissertation.Finally,through combining the algorithms proposed by this dissertation and the experimental platform of multi-agent cooperative control,the experiments of platooning are accomplished.The effectiveness of the algorithm is validated by the experimental results.