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Consensus in networked multi-agent systems

Niezink, N.M.D. (2011) Consensus in networked multi-agent systems. Master's Thesis / Essay, Mathematics.

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Abstract

Consensus problems deal with the issue of decentralized control of networks of dynamic units (agents). In such networked systems, agents operate by interacting over an information exchange network, the structure of which usually has a large effect on the behavior of the system as a whole. Consensus problems lie at the intersection of systems and control theory and (algebraic) graph theory, as graphs form a natural representation of interaction topologies. We present the standard consensus algorithm and address its stability and convergence criteria. These rely heavily on properties of the graph Laplacian. We also explore the effects of assigning different roles (leaders, followers) to the agents in the network. After that, we focus on passive systems. We discuss under what conditions these systems reach consensus on their output. As an example of such output synchronization systems we consider the set of driven pendula.

Item Type: Thesis (Master's Thesis / Essay)
Degree programme: Mathematics
Thesis type: Master's Thesis / Essay
Language: English
Date Deposited: 15 Feb 2018 07:48
Last Modified: 15 Feb 2018 07:48
URI: http://fse.studenttheses.ub.rug.nl/id/eprint/10178

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