Decentralized control of multi-agent systems : a hybrid formalism

Abstract : Over the last years, multi-agents problems have been extensively studied from the control theory community. One of the most popular multi-agents control topics is the consensus problem where a group of agents reaches an agreement over the value of a certain parameter or variable. In this work we focus our attention on the consensus problem of networks of non-linear reference tracking agents. In first place, we use sporadic interactions modeled by relative sensing to deal with the decentralized consensus of the references. The reference is therefore feeded the tracking dynamics of each agent. Differently from existent works, the stability analysis of the overall system required the usage of hybrid systems theory tools, due to dual nature of the two stages approach. The analysis is carried out considering different scenarios of network topology and interactions. For each case a stability sufficient condition in terms of the minimum allowed time between two consecutive reference updates is provided. The proposed framework is applied to the rendez-vous and formation realisation tasks for non-holonomic mobile robots, which appear among the richest research topics in recent years. The same problem is addressed in the context of a real field application, namely a fleet management system for a group of robotic vehicles deployable in an industrial environment for monitoring and data collection purpose. The development of such application was motivated by the fact that this thesis is part of the Future of Factory Lorraine (FFLOR) project, developed by the technological research department of the Commissariat à l'énergie atomique et aux énergies alternatives (CEA tech).
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Tommaso Borzone. Decentralized control of multi-agent systems : a hybrid formalism. Automatic. Université de Lorraine, 2019. English. ⟨NNT : 2019LORR0078⟩. ⟨tel-02315687⟩

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