آرايش بندي چند عاملي در صفحه حول منبع نامعلوم با استفاده از كنترل مرزي معادله حرارت

چكيده انگليسي :

Planar Multiagent Deployment Over an Unknown Source Using Boundary Control of Heat Equation Sana Motallebi s motallebi@ec iut ac ir January 09 2018 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi Supervisor Dr Mohsen Mojiri mohsen mojiri@cc iut ac ir Abstract Controlling a group of unmanned autonomous vehicles agent to reach a given point is an active area in control theory Gradient based extremum seeking control as an non model based optimization algorithm provides a good tool for solvingthis problem Localization of an unknown source is one of gradient based extremum seeking control algorithms In sourcelocalization problem the agent must find the unknown location of a source by upgrading an static map The intensity of thesignal emmitted from the source is assumed to have a maximum value at the source position and decreases as the distancedrops In this thesis by using extremum seeking control and diffusion heat equation the problem of formation of groupsof holonomic agents as an multi agent system is investigated For the mathematical description of multi agent systems it is typically distinguished between the discrete and the continuous approach The latter is particularly suited for systemsinvolving a large number of agents and a multi agent system is presented using a partial differential equation By controllinga partial differential equation in order to converge to the equilibrium solution a desired formation could be achieved In thisthesis the diffusion heat equation with its boundary control is proposed to achieve the desired formation of a continuum ofholonomic agents Controlling boundary conditions which are an extremum seeking control causes two ends of a continuumwhich are named as anchors to be in a desired position near an unknown source and at two ends of the optimal formation The diffusion heat equation causes interior agents which are named followers to deploy on an equilibrium profile of theequation and form an optimal formation around an unknown source By using two similar diffusion heat equation planarmulti agent line formation was obtained With the aim of deploying holonomic agents into palnar curves the general formof the diffusion heat equation and the complex diffusion heat equation were used The general form of the diffusion heatequation does not give a complete formation and the extremum seeking control could not be used Different geometricplanar curves are formed by using a complex diffusion heat equation In particular by using a complex diffusion heatequation and extremum seeking control of boundary conditions it is possible to obtain a circle with a desired radius aroundan unknown source In each case the diffusion heat equation will be spatialy discretized by central three point differencingapproximation By spatialy discretizing the heat equation decentralized control laws are obtained for agents that are in achain like communication topology Stability analysis of the proposed dynamics has been made and numerous simulationshave been presented Key Words Averaging Extremum seeking Diffusion heat equation Multi agent formation

مطلبي، سناء

آرايش بندي چند عاملي در صفحه حول منبع نامعلوم با استفاده از كنترل مرزي معادله حرارت

معدل گيري , اكسترمم يابي , معادله انتشار حرارت , آرايش بندي چند عاملي