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Average Consensus with Prescribed Performance Guarantees for Multi-agent Double-Integrator Systems
KTH, School of Electrical Engineering (EES), Automatic Control.
2015 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The problem of consensus reaching with prescribed transient behaviour for a

group of agents with dynamics described by a double integrator model is addressed.

In order to achieve prescribed performance we employ an appropriately

designed transformation of the output error, that reects performance speci-

cations such as minimum speed of convergence, maximum allowed overshoot

and steady state error. Assuming that the information exchange is described

by a static communication network, we initially impose time-dependent constraints

on the relative positions between neighbouring agents and we design

a distributed control law consisting of a proportional term of the transformed

error through a transformation related gain and an additional damping term

depending on the agent's absolute velocity. Also a second controller is proposed

that utilizes the relative velocities between agents that exchange information

instead of the absolute velocities. Furthermore, we design a controller that can

additionally achieve prescribed performance for the velocity error by imposing

time-dependent constraints for a combined error, linear combination of the relative

positions and velocities. In this case, the distributed controller has the same

structure of the rst one enriched with term proportional to the transformed

combined error with time variant gains. Under a sucient condition for the

damping gains, the proposed nonlinear time-dependent controllers guarantee

that the predened constraints are not violated and that consensus is achieved

with a convergence rate independent of the topology of the communication network.

Furthermore, connectivity maintenance can be ensured by appropriately

designing the performance bounds. Theoretical results are supported by simulations.

Place, publisher, year, edition, pages
2015. , 62 p.
EES Examensarbete / Master Thesis, XR-EE-RT 2015:02
National Category
Control Engineering Other Electrical Engineering, Electronic Engineering, Information Engineering
URN: urn:nbn:se:kth:diva-168374OAI: diva2:815870
Available from: 2015-06-02 Created: 2015-06-02 Last updated: 2015-06-02Bibliographically approved

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