Print Email Facebook Twitter Synchronization of Uncertain Heterogeneous Agents Title Synchronization of Uncertain Heterogeneous Agents: An Adaptive Virtual Model Reference Approach Author Muhammad Ridho Rosa, Ridho (TU Delft Electrical Engineering, Mathematics and Computer Science; TU Delft Delft Center for Systems and Control) Contributor Baldi, S. (mentor) Degree granting institution Delft University of Technology Programme Electrical Engineering | Embedded Systems Date 2018-07-01 Abstract Synchronization of Multi-Agent Systems (MASs) has the potential to benefit many technologicalareas such as formation control for unmanned vehicles, cooperative adaptivecruise control, and spacecraft attitude control. Information plays a crucial role in MASs:in centralized approaches, a central node utilizes global information to achieve synchronization,while in distributed approach agents only utilize local information, i.e. neighbors’information. A big concern in MASs is the presence of parametric uncertainties(unknown dynamics), which might require adaptive control gains instead of fixed controlgains.This work thus provides a novel adaptive distributed control for MASs of heterogeneousagents with unknown dynamics based on model reference adaptive control (MRAC).We study both the synchronization of linear systems and the synchronization of Euler-Lagrange (EL) systems. The implementation of this scheme is based on distributedmatching condition assumptions. We study such matching conditions both for the statefeedbackcase and output-feedback case. Since all matching gains are unknown in viewof the unknown dynamics, the gains are adapted online via Lyapunov-based estimation.The asymptotic convergence of the synchronization error is analytically provenby introducing an appropriately defined Lyapunov function, and numerical examplesshow the effectiveness of the approach. The practical advantage of the proposed distributedMRAC is the possibility of handling unknown dynamics by simply exchangingthe states/output, and inputs with neighbors, without any extra auxiliary variables (distributedobserver) nor sliding mode. Because of the mutual dependence of control inputs,well-posedness problems will arise in the presence of cyclic communication, if the inputsare generated without a prescribed priority. In this work, we study such well-posednessproblems via parameter projection methods. Subject Adaptive controlUncertain Heterogeneous AgentMulti-Agent systemsEuler-Lagrange Systemsplatooning strategyUAVSynchronization To reference this document use: http://resolver.tudelft.nl/uuid:9bd22f02-e0c1-47c8-88f1-768aeb52b7a8 Part of collection Student theses Document type master thesis Rights © 2018 Ridho Muhammad Ridho Rosa Files PDF mscThesis_MRRosa.pdf 2.01 MB Close viewer /islandora/object/uuid:9bd22f02-e0c1-47c8-88f1-768aeb52b7a8/datastream/OBJ/view