14432

1346 دكتري

دكتري

كنترل

اصفهان : دانشگاه صنعتي اصفهان

1397

چهارده، [211]ص.: مصور، جدول، نمودار

جعفر قيصري

محمد رضا پورياي ولي، فرزانه عبدالهي

حيدر علي طالبي، محسن مجيري، ايمان ايزدي

1397/12/19

كتابنامه

برق و كامپيوتر

مهندسي برق و كامپيوتر

1397/12/22

ID1346 دكتري

Consensus based formation control of multi agent systems on Lie groups Kobra Ghasemi k ghasemi@ec iut ac ir November 14 2018 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree PhD Language Farsi Supervisor Prof Jafar Ghaisari ghaisari@cc iut ac ir Abstract In this thesis the global and coordinate free approach is applied to address consensus and formation problems ofmultiple fully actuated rigid bodies with equation of motion evolving on Lie groups SO 3 and SE 3 In the firststep a decentralized consensus law based on the gradient of a smooth cost function is proposed A new approachfor analyzing the attitude synchronization problem was developed and proved that convergence to synchronizationcan be achieved for any connected and undirected graph if the initial attitudes of neighboring agents are sufficientlyclose Using the critical points of the cost function the effects of graph topology on synchronization problem wereinvestigated for tree complete and ring graphs Also sufficient condition that guarantees convergence to synchro nization for general connected graph was obtained Using the obtained results and the idea of auxiliary variable onthe rotational group the consensus law for all initial attitude of rigid bodies in a connected graph is proposed Also the consensus based formation laws for multi agent systems with or without a leader are proposed Then using theviscosity solution for the Hamilton Jacobi problem on the rotational group in the reverse approach the consensuslaws designed on the Lie algebra so 3 are transferred to the equivalent consensus laws on the Lie group SO 3 The advantage of these consensus laws lies in the fact that convergence to the synchronization doesn t depend tothe graph topology Considering bounded external disturbance in the dynamic equation the formation problem ofrigid bodies on Lie group SE 3 is discussed in virtual structure and consensus based approach using the robustsliding mode control Finally in the presence of uncertainty in the inertial matrix and in the presence of known andunknown external disturbance the robust consensus laws based on the adaptive control are proposed The proposedcontrol schemes are directly developed on the Lie groups to avoid singularity and ambiguities associated with theattitude representation of Euler angles and quaternion Numerical simulation results also illustrated the effectivenessof the proposed control schemes Key Words Consensus Formation Lie groups Multi agent systems Rigid body Synchronization

جعفر قيصري

محمد رضا پورياي ولي، فرزانه عبدالهي

حيدر علي طالبي، محسن مجيري، ايمان ايزدي