Consensus in multi-agent systems with time-delays
type: CreativeWork
description: Different consensus problems in multi-agent systems have been addressed in this thesis. They represent improvements with respect to the state of the art. In the first part of the thesis in luding Chapters 2, 3, and 4, the state of the art of the representation and stability analysis of consensus problems, time-delay systems, and sampled-data systems have been presented. Novel contributions have been illustrated in Chapters 5-8. Particularly, in Chapter 5 we reported the results of Zareh et al. (2013b), where we investigated the consensus problem for networks of agents with double integrator dynamics affected by time-delay in their coupling. We provided a stability result based on the Lyapunov-Krasovskii functional method and a numerical proc edure based on an LMI condition which depends only on the algebraic connectivity of the considered network topologies, thus reducing greatly the computational complexity of the procedure. Obviously, this result implies the existence of a minimum dwell time such that the proposed consensus protocol is stable for slow swit things between network topologies with suffient algebraic connectivity. Future work will involve actually computing such a dwell time by adopting a multiple Lyapunov function method and evaluating the worst case sider only delayed relative measurements instead of delayed absolute values of the neighbors' state variables. The results of Zareh et al. (2013a) were addressed in Chapter 6, in which a on- tinuous time version of a consensus on the average protocol for arbitrary strongly connected directed graphs is proposed and its convergence properties with respect to time delays in the local state update are characterized. The convergenc e properties of this algorithm depend upon a tuning parameter that an be made arbitrary small to prove stability of the networked system. Simulations have been presented to corroborate the theoretical results and show that the existenc e of a small time delay an a tually improve th…
abstract: Different consensus problems in multi-agent systems have been addressed in this thesis. They represent improvements with respect to the state of the art. In the first part of the thesis in luding Chapters 2, 3, and 4, the state of the art of the representation and stability analysis of consensus problems, time-delay systems, and sampled-data systems have been presented. Novel contributions have been illustrated in Chapters 5-8. Particularly, in Chapter 5 we reported the results of Zareh et al. (2013b), where we investigated the consensus problem for networks of agents with double integrator dynamics affected by time-delay in their coupling. We provided a stability result based on the Lyapunov-Krasovskii functional method and a numerical proc edure based on an LMI condition which depends only on the algebraic connectivity of the considered network topologies, thus reducing greatly the computational complexity of the procedure. Obviously, this result implies the existence of a minimum dwell time such that the proposed consensus protocol is stable for slow swit things between network topologies with suffient algebraic connectivity. Future work will involve actually computing such a dwell time by adopting a multiple Lyapunov function method and evaluating the worst case sider only delayed relative measurements instead of delayed absolute values of the neighbors' state variables. The results of Zareh et al. (2013a) were addressed in Chapter 6, in which a on- tinuous time version of a consensus on the average protocol for arbitrary strongly connected directed graphs is proposed and its convergence properties with respect to time delays in the local state update are characterized. The convergenc e properties of this algorithm depend upon a tuning parameter that an be made arbitrary small to prove stability of the networked system. Simulations have been presented to corroborate the theoretical results and show that the existenc e of a small time delay an a tually improve th…
author: ZAREH ESHGHDOUST, MEHRAN
language: eng
keywords: consenso, consensus, control, controllo automatico, ritardi, sampled data systems, sistemi di dati campionati, time delay, Settore ING-INF/04 - Automatica
date published: 2015-04-27
date modified: 2026-07-24T01:30:09Z
provider: Università di Cagliari
publisher: Networked Digital Library of Theses and Dissertations
type: WebPage
source organization: Università degli Studi di Cagliari

PropertyValue
property ID: Handle
value: http://hdl.handle.net/11584/266600