國立虎尾科技大學 |

Formation Control and Robustness Analysis of Time-Delayed Agents.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Formation Control and Robustness Analysis of Time-Delayed Agents./
作者:	Rivera, Andres F.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, : 2019,
面頁冊數:	95 p.
附註:	Source: Masters Abstracts International, Volume: 80-11.
Contained By:	Masters Abstracts International80-11.
標題:	Engineering. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=13425307
ISBN:	9781392097236

Formation Control and Robustness Analysis of Time-Delayed Agents.
Rivera, Andres F.

Formation Control and Robustness Analysis of Time-Delayed Agents. - Ann Arbor : ProQuest Dissertations & Theses, 2019 - 95 p.

Source: Masters Abstracts International, Volume: 80-11.

Thesis (M.S.)--California State University, Long Beach, 2019.

This item must not be sold to any third party vendors.

This thesis considers the formation control problem of a group of homogeneous non-holonomic agents in the presence of two kinds of delays, a time delay in the sensing feedback channel and a time delay in the agent communication network. The agents are assumed to communicate using a fixed and directed communication topology. The formation control problem is tackled using consensus protocols; this work proposes a new consensus protocol that allows for the existence of leader agents (agents that do not receive state information from its neighbors) within the formation, and the algebraic form of the distributed forcing function that solves the formation regulation problem. The time- delayed stability analysis of this formation is analyzed using the CTCR (Cluster Treatment of Characteristic Roots) method under the SDS (Spectral Delay Space) domain. Sufficient conditions for the stability of the time-delayed formation control system are presented. The methodology is implemented and validated with a numerical example evaluating the formation regulation and dynamic formation trajectory tracking capabilities of the scheme, along with a Monte Carlo experiment validating the time- delay robustness assessment. The results of the analysis of this methodology show that the sensing delay can drive the effective stability margin of the multi-agent system. We present an example where the communication delay margin is infinite for a finite range of sensing delays. The example emphasizes the need for the explicit consideration of sensing delays in the design of robust formations of agents and the methodology discussed in this thesis adequately addresses such considerations.

ISBN: 9781392097236Subjects--Topical Terms:

561152
Engineering.
Subjects--Index Terms:

Formation control

Formation Control and Robustness Analysis of Time-Delayed Agents.
LDR:02922nam a2200397 4500 001 951784
005 20200821052155.5
008 200914s2019 ||||||||||||||||| ||eng d
020 $a 9781392097236
035 $a (MiAaPQ)AAI13425307
035 $a (MiAaPQ)csulb:12745
035 $a AAI13425307
040 $a MiAaPQ $c MiAaPQ
100 1 $a Rivera, Andres F. $3 1241254
245 1 0 $a Formation Control and Robustness Analysis of Time-Delayed Agents.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2019
300 $a 95 p.
500 $a Source: Masters Abstracts International, Volume: 80-11.
500 $a Publisher info.: Dissertation/Thesis.
500 $a Advisor: Shankar, Praveen.
502 $a Thesis (M.S.)--California State University, Long Beach, 2019.
506 $a This item must not be sold to any third party vendors.
520 $a This thesis considers the formation control problem of a group of homogeneous non-holonomic agents in the presence of two kinds of delays, a time delay in the sensing feedback channel and a time delay in the agent communication network. The agents are assumed to communicate using a fixed and directed communication topology. The formation control problem is tackled using consensus protocols; this work proposes a new consensus protocol that allows for the existence of leader agents (agents that do not receive state information from its neighbors) within the formation, and the algebraic form of the distributed forcing function that solves the formation regulation problem. The time- delayed stability analysis of this formation is analyzed using the CTCR (Cluster Treatment of Characteristic Roots) method under the SDS (Spectral Delay Space) domain. Sufficient conditions for the stability of the time-delayed formation control system are presented. The methodology is implemented and validated with a numerical example evaluating the formation regulation and dynamic formation trajectory tracking capabilities of the scheme, along with a Monte Carlo experiment validating the time- delay robustness assessment. The results of the analysis of this methodology show that the sensing delay can drive the effective stability margin of the multi-agent system. We present an example where the communication delay margin is infinite for a finite range of sensing delays. The example emphasizes the need for the explicit consideration of sensing delays in the design of robust formations of agents and the methodology discussed in this thesis adequately addresses such considerations.
590 $a School code: 6080.
650 4 $a Engineering. $3 561152
650 4 $a Mechanical engineering. $3 557493
653 $a Formation control
653 $a Input output linearization
653 $a Leader-follower
653 $a Leaderless
653 $a Sensing delay
653 $a Time delay
690 $a 0537
690 $a 0548
710 2 $a California State University, Long Beach. $b Mechanical and Aerospace Engineering. $3 1241255
773 0 $t Masters Abstracts International $g 80-11.
790 $a 6080
791 $a M.S.
792 $a 2019
793 $a English
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=13425307