Path Following and Output Synchronization of Homogeneous Linear Time-Invariant Systems

Path Following;Output Synchronization;Multi-Agent System

Steinfeld, Maxwellaffiliation1:Faculty of Engineering ; advisor:Nielsen, Christopher ; Nielsen, Christopher ;

University of Waterloo

关键词: Master Thesis;    Multi-Agent System;    Path Following;    Output Synchronization;   

Others  :  https://uwspace.uwaterloo.ca/bitstream/10012/13145/3/Steinfeld_Maxwell.pdf

瑞士|英语

来源: UWSPACE Waterloo Institutional Repository

【 摘 要 】

This thesis examines two aspects of the path following control design problem for LinearTime-Invariant (L.T.I.) systems assigned closed curves in their output space. In the firstpart of the thesis we define a path following normal form for L.T.I. systems and studystructural properties related to this normal form. We isolate how unstable zero dynamicsalter the feasibility of using the path following normal form for control design. In the secondhalf of the thesis we consider a synchronized path following problem for a homogenousmulti-agent system and cast the problem as an instance of an output synchronizationproblem to leverage recent results from the literature. It is desired that each individualagent follow a specified path. The agents communicate with one another over an idealizedcommunication network to synchronize their positions along the path. The main result isthe construction of a dynamic feedback coupling that drives all the agents in the networkto their respective reference paths while simultaneously synchronizing their positions alongthe path. Laboratory results are presented to illustrate the effectiveness of the proposedapproach.