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On distributed control analysis and design for Multi-Agent systems subject to limited information

Laura Dal Col 1
1 LAAS-MAC - Équipe Méthodes et Algorithmes en Commande
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : Multi-agent systems are dynamical systems composed of multiple interacting elements known as agents . Each agent is a dynamical system with two characteristics. First, it is capable of autonomous action—that is, it is able to evolve according to a self-organised behavior, which is not influenced by the external environment. Second, it is able to exchange information with other agents in order to accomplish complex tasks, such as coordination, cooperation, and conflict resolution. One commonly studied problem in multi-agent systems is synchronization. The agents are synchronized when their time evolutions converge to a common trajectory. Many real-world applications, such as flocking and formation control, can be cast as synchronization problems. Agent synchronization can be achieved using different approaches. In this thesis, we propose distributed and centralized control paradigms for the synchronization of multi-agent systems. We develop necessary and sufficient conditions for the synchronization of multi-agent systems, composed by identical linear time-invariant agents, us- ing a Lyapunov-based approach. Then we use these conditions to design distributed synchronization controllers. Then, we extend this result to multi-agent systems subject to external disturbances enforcing disturbance rejection with 퐻 ∞ control techniques. Furthermore, we extend the analysis to multi-agent systems with actuator constraints using LMI-based anti-windup techniques. We test the proposed control design strategies in simulated examples among which two are inspired by real-world applications. In the first, we study airplane formation control as a synchronization problem. In the second, we analyze the delivery of video streams as a synchronization problem and we compare the results to existing controllers.
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Submitted on : Wednesday, September 27, 2017 - 1:05:05 PM
Last modification on : Thursday, June 10, 2021 - 3:04:23 AM
Long-term archiving on: : Thursday, December 28, 2017 - 1:34:15 PM


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  • HAL Id : tel-01596162, version 1


Laura Dal Col. On distributed control analysis and design for Multi-Agent systems subject to limited information. Automatic. INSA de Toulouse, 2016. English. ⟨NNT : 2016ISAT0034⟩. ⟨tel-01596162⟩



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