In recent decades, with the advancement of technology and the automation of various devices, multi-agent systems have received significant attention from researchers. The main reason for this great interest in multi-agent systems is their numerous applications in various fields. One of these fields is the cooperative task assignment to group agents to achieve a specific goal. The issue of load transportation using unmanned aerial vehicles (quadrotors) is one of the applications of cooperative multi-agent systems. The main goal is to transport load with the least amount of disruption along the path to reach the desired destination. In this thesis, we first focus on modeling the load transportation system, which includes multiple quadrotors and one slug load. Then, an appropriate controller is designed. Initially, we determine the leadership and the center of the system, and then define a symmetric and predetermined formation for the system. Because in the case of asymmetry, the system experiences severe oscillations and huge damages. For designing the control system, we use two methods: optimal control and adaptive fuzzy wavelet networks (AFWNs), and eva‎luate the adaptability and coalition of these approaches. The main topic of discussion is the control of nonlinear systems, In particular the estimation and adaptation of the nonlinear part of the system. In this research, an appropriate controller is used to estimate and adapt the nonlinear part of the control system using adaptive fuzzy wavelet networks (AFWNs). Some key Attributes of fuzzy wavelet networks include high learning capability, the ability to achieve desired accuracy, and the potential to estimate a wide range of nonlinear functions. In the next phase, we introduce a fault by disconnecting one of the connecting cables from the system and examine its impact and the method of re-stabilizing the system. Finally, the effect of the designed control model is eva‎luated and its efficiency is confirmed.

فريد شيخ الاسلام , مجدالدين نجفي

ايمان ايزدي نجف آبادي , جواد عسگري مارناني