15526

1564 دكتري

دكتري

كنترل

اصفهان : دانشگاه صنعتي اصفهان

1398

يازده، 109ص:مصور، جدول، نمودار

1399/02/03

كتابنامه

برق

مهندسي برق و كامپيوتر

1399/02/08

2607893

Fault tolerant Formation Control of Linear Multi agent Systems Using Complex Laplacian Ali Ghasemi ali ghasemi@ec iut ac ir January 22 2020 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree Ph D Language PersianSupervisors Dr Javad Askari j askari@cc iut ac ir Dr Mohammad Bagher Menhaj menhaj@aut ac ir Dr Iman Izadi Advisor Department Graduate Program Coordinator Dr Gholam Reza Yousefi Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Department of Electrical Engineering Amirkabir University of Technology Tehran Iran Abstract In this thesis the problem of distributed fault tolerant control for multi agent systems with complex weights directedcommunication topology is studied First a framework is proposed to associate optimal topology of multi agent systems toa constrained optimization problem with complex Laplacian matrix which is independent of the agent dynamics Second a bank of observers is constructed to compute residual vectors with an aim of allowing the fault detection and isolationof actuator fault to occur on any agent of the multi agent systems Third a distributed finite time convergent observer isproposed for each agent to estimate the state and fault in a finite time Then using the fault information obtained online an adaptive fault tolerant control protocol is proposed to compensate for the failure effects and to enable all the agentsto achieve the control goal Also we show that the closed loop system can be guaranteed to be asymptotically stable inthe presence of faults Finally some numerical example results are given to demonstrate the effectiveness of the proposedschemes Key WordsMulti agent system Complex Laplacian Fault tolerant control Introduction Distributed control of multi agent systems DCMAS has been an active research fieldover the last few decades due to their important applications in distributed consensus swarm ing and flocking control formation control power systems air traffic control and sensor net works Shahvali and Askari 2016 Abdoli et al 2016 Ghapani et al 2016 In DCMAS

جواد عسگري مارناني، محمد باقر منهاج

ايمان ايزدي

فريد شيخ الاسلام، غلامرضا لطيف شبگاهي، مرضيه كمالي