Event-triggered distributed control for optimal consensus of unknown nonlinear agents in normal form

Zacharia, Angelos; Ζαχαρία Άγγελος

dc.contributor.author	Zacharia, Angelos	en
dc.contributor.author	Ζαχαρία Άγγελος	el
dc.date.accessioned	2022-11-04T09:41:22Z
dc.date.available	2022-11-04T09:41:22Z
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/56086
dc.identifier.uri	http://dx.doi.org/10.26240/heal.ntua.23784
dc.description	Εθνικό Μετσόβιο Πολυτεχνείο--Μεταπτυχιακή Εργασία. Διεπιστημονικό-Διατμηματικό Πρόγραμμα Μεταπτυχιακών Σπουδών (Δ.Π.Μ.Σ.) “Συστήματα Αυτοματισμού”	el
dc.rights	Default License
dc.subject	Consensus control	en
dc.title	Event-triggered distributed control for optimal consensus of unknown nonlinear agents in normal form	en
heal.type	masterThesis
heal.classification	Cooperative control of multi-agent systems	en
heal.language	en
heal.access	free
heal.recordProvider	ntua	el
heal.publicationDate	2022-06-30
heal.abstract	This thesis proposes a novel distributed event-triggered algorithm that solves the multi-agent optimal output consensus problem for a global objective function which is the sum of local cost functions attached to individual agents. We prove the convergence of the proposed algorithm for (i) connected, undirected graphs and (ii) strongly connected and weight-balanced digraphs, assuming local functions which are strongly convex with locally Lipschitz gradients. Motivated by practical considerations, we develop a Zeno-free asynchronous event-triggered communication scheme whose execution only requires agents to share sampled information with their neighbors. A variable transformation is introduced that reformulates the aforementioned problem to a simpler regulation problem. The new variables, called the event-triggered optimal consensus proportional and integral sampled (ET-OCPIS) variables, need only the relative filtered output measurements to be shared between neighbors and are independent of any underlying agent dynamics. Therefore, this methodology enables the use of nonlinear control techniques in order to solve the optimal consensus problem. To showcase the applicability of the methodology, we consider agent dynamics in the normal form with input-to-state stable (ISS) internal dynamics. Using the ET-OCPIS variables and the prescribed performance control technique, we design a distributed control law that ensures convergence to the optimal consensus value with predefined accuracy. At the same time, all closed-loop signals are proved to be uniformly bounded. A group of two-wheeled mobile robotic vehicles is used to illustrate the effectiveness of the proposed algorithm for two different graph topologies.	el
heal.advisorName	Psillakis, Haris	en
heal.committeeMemberName	Soldatos, Argiris	en
heal.academicPublisher	Εθνικό Μετσόβιο Πολυτεχνείο. Σχολή Μηχανολόγων Μηχανικών	el
heal.academicPublisherID	ntua
heal.fullTextAvailability	false