Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE credits
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.
2015. , 62 p.