Analysis and design consensus controller in delayed multi-agent systems
In multi-agent systems, while agents, under interaction topology, achieve a convergence in state variables, then state consensus has been occurred. In this thesis, first, consensus problem in singular multi-agent systems in presence of exogenous disturbances and under delayed directed interaction graph has been redefined and analyzed. Then, by application of transforming for sepration of differential and algebraic parts, appropriate control protocol is proposed. Multi-agent system consensus problem is converted to N subsystems stability problem, by eigenvalue decomposition. Later, by conversion of differential part of these subsystems to descriptor ones, an idea for gain matrices design is provided. These gain matrices are achieved by linear matrix inequality with H_∞ control approach. Finally by different simulations, represented features in this thesis compared to other references will be discussed and analyzed their results.
|2015||M.Sc.||Dynamical Systems Analysis and Control|