عنوان :
كنترل تطبيقي مبتني بر روش گام به عقب براي حل مساله ي اجماع در سيستم هاي چند عاملي
مقطع تحصيلي :
كارشناسي ارشد
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده برق و كامپيوتر
صفحه شمار :
نه، 78ص.: مصور
استاد راهنما :
مرضيه كمالي، فريد شيخ الاسلام
استاد مشاور :
ايمان ايزدي
توصيفگر ها :
كنترل تطبيقي - عصبي توزيع شده , كنترل سطح ديناميكي
تاريخ ورود اطلاعات :
1395/02/06
دانشكده :
مهندسي برق و كامپيوتر
چكيده انگليسي :
Adaptive Control Based on Backstepping Method for Solving Consensus Problem in Multi Agent Systems Javad Tousi j tousi@ec iut ac ir Date of Submission 2016 1 12 Department of Electrical And Computer Engineering Isfahan University of Technology Isfahan 84156 83111 IranDegree M Sc Language FarsiSupervisors M Kamali m kamali@cc iut ac ir F Sheikholeslam sheikh@cc iut ac irAdvisor I Izadi iman izadi@cc iut ac irAbstract Recent progress in microprocessors and reliable communication technologies provides coopera tion of autonomous systems such as unmanned aerial vehicles robots spacecrafts and etc The abilityof Cooperation in autonomous systems to perform a task which one system is not able to do alone causes advent of multi agent systems in scientific literature Demands for a controller in each subsys tem that makes it work toward of group s goal yields considering these systems in control engineer ing Depending on the system conditions various control methods proposed to control of multi agentsystems Methods like adaptive control optimal control model predictive control and robust controlare some of these methods Since the adaptive control has the ability to overcome parametric un certainties and slow variations it is an appropriate method to control of multi agent systems In thisthesis a new neuro adaptive backstepping method is proposed for higher order multi agent systems Dynamics of the agents nodes are assumed to be unknown to the controllers so they are estimatedusing neural networks In the proposed method the multi agent systems follow the proposed trajec tory of the leader which supposed to be an independent agent Agents connected through a weighteddirected graph with time invariant topology In addition only a subset of agents can access to theleader directly Furthermore because of complexity explosion in backstepping method we use adap tive DSC method to control the multi agent system Some practical aspects are considered in theproposed method In each section simulation results are presented to verify the effectiveness of theproposed controllers Keywords Distributed neuro adaptive control Multi agent system Consensus Backstepping Dy
استاد راهنما :
مرضيه كمالي، فريد شيخ الاسلام
استاد مشاور :
ايمان ايزدي
