Stability and Stabilization of Networked Systems

Abstract : In this thesis, we propose a Lyapunov based approaches to address some distributedsolutions to multi-agent coordination problems, more precisely, we consider a groupof agents modeled as nonholonomic mobile robots, we provide a distributed controllaws in order to solve the leader-follower and the leaderless consensus problems under different assumptions on the communication graph topology and on the leader’strajectories. The originality of this work relies on the closed-loop analysis approach, that is, it consists on transforming the last two problems into a global stabilization problem of an invariant set. The stability analysis is mainly based on the construction of strict Lyapunov functions and strict Lyapunov-Krasovskii functionals for a classes of nonlinear time-varying and/or delayed systems.
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Mohamed Adlene Maghenem. Stability and Stabilization of Networked Systems. Automatic. Université Paris-Saclay, 2017. English. ⟨NNT : 2017SACLS186⟩. ⟨tel-01596158⟩

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