A study on leaderless consensus Control for continuous time Multi agent systems

Abstract

The research work reported in this thesis addresses the issue ofleaderless consensus control problem for continuous-time multi-agent systems(MASs) via various kind of control mechanisms. The primary objectiveof this thesis is to formulate suitable control strategies such that the MASsunder consideration achieve consensus. Specifically, the consensus of MASsis discussed with Markov jump parameters, uncertainties, nonlinearities,disturbances and time-varying delay. Furthermore, the leaderless bipartiteconsensus problem with both cooperative and competitive interactions innetwork communication topology is examined. In particular, the guaranteedcost consensus for Markovian jumping MASs subject to time-varying delayis examined via state feedback control approach. Then for nonlinear MASs, newlinethe guaranteed cost memory consensus problem is addressed via fault-tolerantcontroller subject to quantization effects and switching topologies. For linearMASs, the dynamic output feedback controller is developed to achieve bipartiteconsensus under the influence of Markovian switching interaction graphs.Moreover, the bipartite consensus problem for Takagi-Sugeno fuzzy uncertainMASs is examined subject to controller gain variations. Further, the problemof mixed Hand#8734; and passivity based static output feedback controller is studied forbipartite consensus of MASs subject to nonlinearities and switching topologies. newlineThroughout the thesis undirected network topologies is used todescribe the interaction among agents. In particular, both fixed and switchingcommunication graphs are considered. The required consensus conditions aredeveloped in the form of linear matrix inequalities by utilizing algebraic graphtheory and Lyapunov stability theory. newline newline