Leader-following consensus of Multi-agent system with communication constraints using Lyapunov based control

Abstract

Wireless networked control systems possess many challenges to control engineers. These challenges include time delays, packet data dropouts, switching topology, noise, quantization errors. Time delays are almost ubiquitous in almost all the networked control systems and they affect the system performance in a negative way.

The objective of the thesis is to develop a novel control algorithm for achieving leader-following consensus of multi-agent systems (MAS). The topology of the wireless networked MAS is modeled by an algebraic graph theory and defined as a discrete time-invariant system with second order dynamics. The communication link failure is governed by Bernoulli's distribution principle and the time-delays are incorporated in to the system dynamics. Lyapunov-based methodologies and Linear Matrix Inequality (LMI) techniques are then applied to find an appropriate value of the control gain by sufficient conditions of error dynamics.Finally simulation result and experimental result studies are carried out by using two Pioneer P3-DX robots as real follower robots and a virtual leader robot. The results are verified at the end.