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Une approche du suivi de consensus pour les systèmes multi-agents

Abstract : An agent is an autonomous dynamics system that can coordinate with the environment as well as with other agents. A group of these autonomous agents working in coordination is called a Multi-agent system (MAS). A MAS has several advantages over single agent operation. The main objective of MAS is to achieve a complex goal which is hard to achieve by a single agent. In MAS, each agent shares its information (states) to the neighbors only to complete the task hence no centralized monitoring systems is required. We can define a multi-agent system as a network in which information is distributed. The interest of researchers in the study of distributed control and distributed coordination of autonomous agent networks is motivated by the fact that it has the ability to cope with the problems associated with centralized communication network and also allow the switching network topologies.The algorithms for distributed networks only use local information, and are robust to variations of network topology and can accommodate network with large size.One of the most studied problems in the field of MAS is the consensus, which can be defined as: for any initial conditions for all agent, what are the conditions that should hold in order that the agents agree on a common value asymptotically while only information is exchanged between neighboring agents.This thesis deals with the development of control law to achieve the consensus for fixed and switching topologies, with or without a leader (consensus tracking). It also investigates the problem of the quality of information in the network. In consensus tracking, the notion of perceptive leader is developed and a control law is proposed for a fixed and switching topology.
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Submitted on : Thursday, April 2, 2020 - 2:28:12 PM
Last modification on : Friday, April 3, 2020 - 1:13:32 AM


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  • HAL Id : tel-02529658, version 1



Fayrouz Isfoula. Une approche du suivi de consensus pour les systèmes multi-agents. Automatique / Robotique. Université de Poitiers, 2019. Français. ⟨NNT : 2019POIT2303⟩. ⟨tel-02529658⟩



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