Performance and controller design for the synchronization of multi-agent systems

Andrej Mosebach

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Andrej Mosebach, Performance and controller design for the synchronization of multi-agent systems (2017), Logos Verlag, Berlin, ISBN: 9783832592547

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Description / Abstract

The analysis and design of control strategies for the synchronization of subsystems that are coupled over communication networks is the topic of this thesis. Typically, synchronization problems deal with the asymptotic behavior of networked multi-agent systems, where it is required that the states of the subsystems follow a common trajectory as the time approaches infinity. In contrast, this thesis focuses on strategies that do not only fulfill the requirement on asymptotic synchronization but also requirements on the transient behavior of networked multi-agent systems. Motivated by a growing number of applications where subsystems exchange their information by means of modern communication systems, the limits on the achievable performance of synchronization are studied for large teams of autonomous subsystems. In particular, control strategies that do not require any centralized coordination of the subsystems are developed.

Table of content

  • BEGINN
  • 1 Introduction
  • 1.1 Synchronization of multi-agent systems
  • 1.2 Synchronization problem and performance specifications
  • 1.3 Literature review
  • 1.4 Structure and contribution of this thesis
  • 2 Preliminaries
  • 2.1 Notations and definitions
  • 2.2 Graph theory
  • 2.3 Review of the LQR design method
  • 2.4 Review of the root locus design method
  • 2.5 Introduction to gossip algorithms
  • 2.6 Demonstration example: Autonomous mobile robots
  • 3 Optimal synchronization of multi-agent systems
  • 3.1 Introduction to optimal synchronization
  • 3.2 Agent model
  • 3.3 Static networked controller
  • 3.4 Model of the overall closed-loop system
  • 3.5 Synchronization condition
  • 3.6 LQR design problem for synchronization
  • 3.7 LQ-Regulator for the synchronization of multi-agent systems
  • 3.8 Approximate method for the design of synchronizing controllers for noncomplete networks
  • 3.9 Optimal synchronization in non-complete networks
  • 3.10 Application example: Synchronization of a vehicle platoon
  • 4 Output synchronization with guaranteed performance
  • 4.1 Introduction and performance requirements
  • 4.2 Agents with output disturbances
  • 4.3 Dynamic networked controller
  • 4.4 Model of the overall system and assumptions
  • 4.5 Decomposition and synchronization condition
  • 4.6 Design of dynamic networked controllers
  • 4.7 Extensions
  • 4.8 Application example: Synchronization of a vehicle platoon
  • 5 Gossip algorithms for the synchronization of multi-agent systems
  • 5.1 Synchronization in point-to-point networks
  • 5.2 Agent model and assumptions
  • 5.3 Synchronizing controller design
  • 5.4 Deterministic agent coupling
  • 5.5 Random agent coupling
  • 5.6 Example: Synchronization of harmonic oscillators
  • 6 Conclusions
  • Bibliography
  • Appendices

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