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Consensus and controllability of multi-agent systems with discrete-time communication

Popping, J. (2015) Consensus and controllability of multi-agent systems with discrete-time communication. Master's Thesis / Essay, Mathematics.

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In this thesis we introduce a new framework for multi-agent systems. In this framework the communication between agents is assumed to be discrete in time rather than continuous as in the classical framework. The motivation for the new framework stems from the fact that the communication is necessarily in discrete time in practice. For this new framework we investigate the problem of consensus. We prove that consensus is reached if the corresponding undirected graph is connected and every time interval is bounded. To provide further insights into the convergence of solutions we present simulation results illustrating how agents reach consensus within the new framework. In addition, simulation results reveal the optimal choice of the time interval for the case of fixed time intervals. Another problem we investigate is the controllability problem. To investigate this problem for the new framework, we derive the leader-follower system associated with this new framework. We show that if the classical continuous-time multi-agent system is controllable then the new multi-agent system is controllable for all sufficiently small time intervals as well.

Item Type: Thesis (Master's Thesis / Essay)
Degree programme: Mathematics
Thesis type: Master's Thesis / Essay
Language: English
Date Deposited: 15 Feb 2018 08:04
Last Modified: 15 Feb 2018 08:04

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