12134

11120

كارشناسي ارشد

كنترل

اصفهان: دانشگاه صنعتي اصفهان، دانشكده برق و كامپيوتر

1395

يازده، 64ص.: مصور، جدول، نمودار

ص. ع. به فارسي و انگليسي

جعفر قيصري، مرضيه كمالي

جواد عسگري

1395/11/19

كتابنامه

برق و كامپيوتر

مهندسي برق و كامپيوتر

ID11120

Distributed fault tolerant control in formation of multi agent systems Elham Bahrampour e bahram@ec iut ac ir January 14 2017 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi Supervisor Assoc Prof Jafar Ghaisari ghaisari@cc iut ac ir Abstract Formation control of agents is one of the most active research areas in the field of multi agent control systems whichhave many applications in various fields of industry military and transportation Importance of operational performance ofcomponents and constitutive elements of these systems in appropriate operation of the whole system brings attention to theissues of detection isolation and fault tolerance in multi agent systems In the formation of some systems occurrence of asmall fault in one of the agent leads to releasing fault affect in other subsystems and losing desirable performance So it is ofparticular importance to consider fault tolerant control of agents in maintaining formation control and also tracking desirablepath by agents in order to increasing reliability safety and performance In this thesis stability of adaptive fault tolerantcontrollers in formation control of multi agent systems has been analyzed when its parameters are updated In some cases itis not practical to assume a known set of possible faults or upper bounded of faults in the systems because there is not muchinformation available about fault and its magnitude Furthermore systems being made by several agents have large scaleand limited information about neighbors Thus in order to solve the mentioned problems it seems essential to propose anadaptive fault tolerant controller for additive fault with unknown bounded The controller is completely distributed withoutneed to system globally information At first with assumption of time invariant formation the maintaining formationproblem of agents with undirected topology and desirable path tracking problem with directed topology by leader followerapproach has been discussed in the presence of additive fault Considered Dynamic in each cases is linear double integrator Then with assumption of time varying formation the maintaining formation problem of linear high order dynamic withundirected topology has been investigated In each of the considered issues the appropriate adaptive rules have beenproposed for updating the fault tolerant controller parameters The effect of adaptive rules on Asymptotic convergence ofabsolute and relative position error of agents to zero in the maintaining formation and so uniformly ultimately bounded ofthese errors in the tracking has been guaranteed by using appropriate Lyapunov functionKey Words multi agent systems fault tolerant adaptive controller distributed controller

جعفر قيصري، مرضيه كمالي

جواد عسگري