Coordinated Control in Rendezvous Tasks of Multi-Agent Systems 多智能體系統聚集任務中的協同控制.pdfVIP

CITY UNIVERSITY OF HONG KONG 香港城市大學 Coordinated Control in Rendezvous Tasks of Multi-Agent Systems 多智能體系統聚集任務中的協同控制 Submitted to Department of Manufacturing Engineering and Engineering Management 製造工程與工程管理系 in Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy 哲學博士學位 by Fan Yuan 樊淵 June 2011 二零一一年六月 Significant progress has been achieved for research on coordination of networked robotic systems in the past few years. Not only many theoretical results, but also a lot of experimental and practical results have been obtained, covering topics of consensus algorithms, graph theory, stochastic networks, animal swarming, agent flocking, robot formation, sensor coverage, information fusion, and so on. In all networked agent systems, the status of communication link is always a key factor in system analysis and control law design. As is well-known, the manner of information exchanging and sharing is determined by the communication topology of an agent system. Thus the status of communication links is crucial for system stability and task achievement. As a result, great effort has been devoted to investigation of the following two problems. One is under what communication link conditions can the networked system obtain the desired status, such as achieving an average consensus. The other is how to design a control scheme for agents to meet these conditions required by the specific practical tasks. In this thesis, we consider the problem of the coordinated