Consensus Control of Multi-Agent Systems Under Constraints
Date
2022
Authors
Sun, Yuan
Editors
Advisors
Shi, Peng
Lim, Cheng Chew
Lim, Cheng Chew
Journal Title
Journal ISSN
Volume Title
Type:
Thesis
Citation
Statement of Responsibility
Conference Name
Abstract
Multi-agent systems (MAS), as they are more effective to perform complex tasks in
real-world applications, have been extensively studied in the past ten years. The
consensus control problem has emerged as the foundation of MAS, as its theoretical
framework is widely applied to achieve cooperative behaviour within a networked
system. A distributed consensus control algorithm aims to synchronize all states of
agents to a common state by exchanging information with its neighbouring agents in
a distributed manner. Whilst the distributed consensus control algorithms have been
promising, how to achieve consensus subject to various constraints has not been fully
investigated, especially for a class of nonlinear MAS.
The primary aim of this thesis is to analyse and design novel consensus control schemes
for both linear and nonlinear MAS in the presence of communication, state and input
constraints. For the consensus control problem of linear MAS under communication
constraints, event-triggered control and integral sliding mode control methods are applied
to synthesize a leaderless consensus controller for linear discrete-time MAS. The
adaptive backstepping technique is also integrated with the event-triggered control
method to derive an effective leaderless consensus control algorithm for nonlinear
continuous-time MAS. Furthermore, a novel state transformation function is employed
to solve constant and time-varying state constraint problems, so that the adaptive backstepping
technique is feasible to formulate a leader-follower consensus control scheme
for nonlinear MAS. Moreover, a new quadratic programming (QP) based safe consensus
controller is developed to achieve consensus while ensuring safety by considering
input constraints for linear MAS.
The main contributions of the thesis are threefold. First, the distributed consensus
is achieved under communication constraints for linear and nonlinear MAS, respectively.
Second, in the presence of state constraints, the proposed leader-follower consensus
control protocol guarantees the desired tracking performance for nonlinear
MAS. Third, a safe consensus is guaranteed with input constraints embedded in the
QP problem for linear MAS. Numerical and practical systems are simulated to verify
the proposed control algorithms that reach consensus while considering various constraints.
School/Discipline
School of Electrical and Electronic Engineering
Dissertation Note
Thesis (Ph.D.) -- University of Adelaide, School of Electrical and Electronic Engineering, 2022
Provenance
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