Performance and Controller Design for the Synchronization of Multi-Agent Systems.

Intro -- 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 -- 3.7.1 Decomposition of the design problem -- 3.7.2 Optimal synchronization of completely coupled agents -- 3.8 Approximate method for the design of synchronizing controllers for noncomplete networks -- 3.9 Optimal synchronization in non-complete networks -- 3.9.1 LQ-like design problem for synchronization -- 3.9.2 Solution of the optimization problem -- 3.9.3 Algorithm for the design of optimal synchronizing controllers -- 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 -- 4.6.1 Design idea -- 4.6.2 Transient behavior of the decoupled synchronization errors -- 4.6.3 Bound on the overall synchronization error -- 4.6.4 Controller design algorithm -- 4.7 Extensions.

4.7.1 Synchronization of agents with non-identical dynamics -- 4.7.2 Synchronization in directed communication networks -- 4.8 Application example: Synchronization of a vehicle platoon -- 4.8.1 Vehicle model and control aim -- 4.8.2 Synchronization of vehicles in undirected networks -- 4.8.3 Synchronization of vehicles in directed networks -- 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 -- 5.3.1 Structure of the networked controller -- 5.3.2 Design of a synchronizing dead-beat controller -- 5.3.3 Behavior of the networked multi-agent system -- 5.4 Deterministic agent coupling -- 5.4.1 Control algorithm for repetitive synchronization of agent pairs -- 5.4.2 Synchronization condition -- 5.4.3 Design of the sampling time to guarantee performance -- 5.5 Random agent coupling -- 5.5.1 Control algorithm for random synchronization of agent pairs -- 5.5.2 Synchronization condition -- 5.5.3 Design of the sampling time to guarantee performance -- 5.6 Example: Synchronization of harmonic oscillators -- 5.6.1 Model of harmonic oscillators -- 5.6.2 Synchronization of harmonic oscillators -- 5.6.3 Synchronization of unstable oscillators -- 6 Conclusions -- Bibliography -- Appendices.

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Electronic reproduction. Ann Arbor, Michigan : ProQuest Ebook Central, 2024. Available via World Wide Web. Access may be limited to ProQuest Ebook Central affiliated libraries.