13850

12588

كارشناسي ارشد

كنترل

اصفهان: دانشگاه صنعتي اصفهان، دانشكده برق و كامپيوتر

۱۳۹۷

دوازده، ۱۰۱ص.: مصور، جدول، نمودار

مرضيه كمالي

ايمان ايزدي

جواد عسكري، مجدالدين نجفي

1397/06/27

كتابنامه

برق و كامپيوتر

مهندسي برق و كامپيوتر

ID12588

Adaptive Control for Unknown Nonlinear Multi Agent Systems in The Presence of Actuator Faults Motahareh Moinfar m moinfar@ec iut ac ir June 18 2018 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi Supervisor Assist Prof Marzieh Kamali m kamali@cc iut ac ir Abstract Study on multi agent systems is considered by researchers in the past decades These systems were initially onlyused in military applications but civilian applications such as air traffic control distributed sensor networks mobile robotnetworks and unmanned aerial vehicles have been also considered in recent years The problem of controlling multi agentsystems is as important as any other system Distributed cooperative control is one of the important control methods inthese systems which control algorithm for each agent is obtained based on the information of its neighboring agents andthe communication graph topology between them Consensus problem is one of the important problems in multi agentsystems Consensus is defined as to reach an agreement on a specific quantity that depends on all the states of the agents Also some faults may occur for a multi agent system If the fault is not identified resolved or compensated it may causesystem instability and degradation Today design of distributed fault tolerant control FTC based on the information ofneighbors of each agent is known as an effective control method to compensate for the faults of individual agents in additionto satisfying the consensus By using adaptive control as an FTC method the actuator faults can be compensated onlineand without the need of fault identification Also it is not necessary to know the bound of external disturbances uncertaindynamics and unknown nonlinear functions According to these points in this research solving the consensus problem ofnonlinear multi agent systems with nonlinear functions external disturbances and heterogeneous dynamics of followers isconsidered For this purpose a distributed neuro adaptive fault tolerant controller is designed to compensate actuator faults Key Words Multi Agent Systems Consensus Fault Tolerant Control Actuator Fault AdaptiveControl

مرضيه كمالي

ايمان ايزدي

جواد عسكري، مجدالدين نجفي