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|Title:||CONSENSUS OF MULTI-AGENT SYSTEM WITH INPUT AND STATE CONSTRAINTS||Authors:||HOU BONAN||Keywords:||Multi-agent System, Consensus, Constrained System, Distributed Control, Optimization, Reference Governor Approach||Issue Date:||20-Aug-2021||Citation:||HOU BONAN (2021-08-20). CONSENSUS OF MULTI-AGENT SYSTEM WITH INPUT AND STATE CONSTRAINTS. ScholarBank@NUS Repository.||Abstract:||This thesis studies output consensus problem of discrete-time heterogeneous multiagent systems where the agents have state and/or control constraints. Several problems are addressed: systems with state and control constraints following reference signals generated by Lyapunov stable systems, and systems with control constraints following unstable references. In this thesis, a two-step approach is proposed. Firstly, each agent has a reference system. This reference will achieve consensus; secondly, the output of each agent is forced to track the reference. In order to handle constraints, Maximum Constrained Admissible Invariant sets(MCAI) are used to select appropriate initial conditions and a governor approach is proposed such that the constraints are always satisfied and the output converges to the reference. In order to enlarge the feasible domain of initial conditions, an MPC controller is also designed for unstable reference tracking of heterogeneous multi-agent systems. Simulation results are provided which show the performance of proposed governor approaches.||URI:||https://scholarbank.nus.edu.sg/handle/10635/214516|
|Appears in Collections:||Ph.D Theses (Restricted)|
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