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Theses

Fully Distributed Time-varying Formation and Containment Control for Multi-agent / Multi-robot Systems

Abstract : This thesis deals with the time-varying formation and containment control for linear time-invariant multi-agent systems with heterogeneity considering constant / time-varying input / output delays and matched / mismatched disturbances under directed and fixed communication topology. New formats of time-varying formation shapes for homogeneous and heterogeneous systems are proposed. The controllers, which are designed based on predictive and adaptive techniques with observer technique, are fully distributed and can be applied to large-scale systems. The application on linearized heterogeneous multi mobile robot systems is verified.
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https://tel.archives-ouvertes.fr/tel-02068614
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Submitted on : Friday, March 15, 2019 - 10:13:06 AM
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  • HAL Id : tel-02068614, version 1

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Wei Jiang. Fully Distributed Time-varying Formation and Containment Control for Multi-agent / Multi-robot Systems. Automatic Control Engineering. Ecole Centrale de Lille, 2018. English. ⟨NNT : 2018ECLI0016⟩. ⟨tel-02068614⟩

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