Mechanical Engineering Commons^™

On Distributed Control Of Multiagent Systems Under Adverse Conditions, Emre Yildirim

USF Tampa Graduate Theses and Dissertations

The objective of this thesis is (1) to show the experimental validation of recently proposed distributed adaptive control architecture for a class of heterogeneous uncertain multiagent systems as well as (2) to theoretically propose a proportional integral controller for multiagent systems having limited resources in the presence of a disturbance with stability analyses.

With regard to (1), the distributed adaptive control architecture used in the experiment utilizes a control input having a nominal part and an adaptive augmentation part for each agent to suppress the effect of uncertainties and disturbances effectively. This architecture is capable to provide uniform ultimate boundedness …