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Decentralized control design for synchronization of multi-agent systems with guaranteed individual costs

Abstract : The work of this thesis focuses on the synthesis and analysis of synchronization algorithms for multi-agent systems, with linear dynamics and fixed topology. By synchronization, we mean that the states of all agents evolve on the same trajectory from a certain time. Taking into account communication constraints, we propose decentralized control architectures, i.e. that use only local information. In a first part, we draw from game theory to propose a control law considering an individual satisfactory cost per agent. In order to facilitate the analysis, the synchronization problem is first reformulated as a stabilization problem. Then, conditions given in the form of Linear Matrix Inegalities allow to check if a gain profile corresponds to a satisfaction equilibrium or not. A set of gains is a satisfaction equilibrium when the individual cost of each agent is bounded by a given threshold. Furthermore, based on the output feedback control, a second result allows us to synthesize the gain of an agent assuming the gains of the other agents are known. The second part, dedicated to networks with clusters, is based on the Singular Perturbed Theory to present a control law more focused on large-scale networks. The objective is to provide a computationally efficient method to design control strategies that guarantee a certain limit on the cost of each cluster. Using a time-scale separation method, the control law design is separated into two parts: an internal and an external control. Their designs are done independently from each other and tend to reduce the computational load. Moreover, we show that the internal control affects the cost of the cluster only during a short period of time.
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Submitted on : Saturday, March 5, 2022 - 9:54:27 AM
Last modification on : Thursday, March 17, 2022 - 11:33:08 AM


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  • HAL Id : tel-03598452, version 1


Jomphop Veetaseveera. Decentralized control design for synchronization of multi-agent systems with guaranteed individual costs. Automatic. Université de Lorraine, 2021. English. ⟨NNT : 2021LORR0303⟩. ⟨tel-03598452⟩



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