Distributed control of multi-agent systems under switching communication topologies
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Date
2024-07-11
Authors
Τσατσούλη, Σοφία
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Abstract
This thesis explores the synchronization control problem of uncertain high-order nonlinear Multi-Agent Systems (MASs) in a leader-follower scheme. The approach employs a robust decentralized control protocol of minimal complexity that achieves prescribed, arbitrarily fast, and accurate synchronization of the following agents and the leader. The control signal of each agent is computed solely based on local relative state information from its neighborhood set, making the protocol distributed. Notably, the design procedure does not require information about the dynamic models of the agents. Additionally, assuming that the communication graph is directed and always contains a directed spanning tree, the controller-enforced transient and steady-state performance bounds are entirely independent of: (i) the underlying switching communication topology, (ii) the selection of control gains, (iii) the agent model uncertainties. Instead, these bounds are solely defined by designer-specified performance functions. Furthermore, it is established that synchronization can be achieved if the dwell time for switching between different topology candidates is greater than a threshold determined by the performance function’s convergence rate. Finally, simulation studies are provided to illustrate and verify the approach.
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Keywords
Multi-agent systems, Decentralized control, Switching topology