This thesis considers the formation control problem of a group of homogeneous non-holonomic agents in the presence of two kinds of delays, a time delay in the sensing feedback channel and a time delay in the agent communication network. The agents are assumed to communicate using a fixed and directed communication topology. The formation control problem is tackled using consensus protocols; this work proposes a new consensus protocol that allows for the existence of leader agents (agents that do not receive state information from its neighbors) within the formation, and the algebraic form of the distributed forcing function that solves the formation regulation problem. The time- delayed stability analysis of this formation is analyzed using the CTCR (Cluster Treatment of Characteristic Roots) method under the SDS (Spectral Delay Space) domain. Sufficient conditions for the stability of the time-delayed formation control system are presented. The methodology is implemented and validated with a numerical example evaluating the formation regulation and dynamic formation trajectory tracking capabilities of the scheme, along with a Monte Carlo experiment validating the time- delay robustness assessment. The results of the analysis of this methodology show that the sensing delay can drive the effective stability margin of the multi-agent system. We present an example where the communication delay margin is infinite for a finite range of sensing delays. The example emphasizes the need for the explicit consideration of sensing delays in the design of robust formations of agents and the methodology discussed in this thesis adequately addresses such considerations.
|Commitee:||Morales-Ponce, Oscar, Quindlen, John F.|
|School:||California State University, Long Beach|
|Department:||Mechanical and Aerospace Engineering|
|School Location:||United States -- California|
|Source:||MAI 58/05M(E), Masters Abstracts International|
|Subjects:||Engineering, Mechanical engineering|
|Keywords:||Formation control, Input output linearization, Leader-follower, Leaderless, Sensing delay, Time delay|
Copyright in each Dissertation and Thesis is retained by the author. All Rights Reserved
The supplemental file or files you are about to download were provided to ProQuest by the author as part of a
dissertation or thesis. The supplemental files are provided "AS IS" without warranty. ProQuest is not responsible for the
content, format or impact on the supplemental file(s) on our system. in some cases, the file type may be unknown or
may be a .exe file. We recommend caution as you open such files.
Copyright of the original materials contained in the supplemental file is retained by the author and your access to the
supplemental files is subject to the ProQuest Terms and Conditions of use.
Depending on the size of the file(s) you are downloading, the system may take some time to download them. Please be