Average consensus in matrix-weight-balanced digraphs

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dc.contributor.authorAllapanda, Chinnappa Yogesh B.
dc.contributor.supervisorConstantinescu, Daniela
dc.date.accessioned2019-04-11T22:54:07Z
dc.date.available2019-04-11T22:54:07Z
dc.date.copyright2019en_US
dc.date.issued2019-04-11
dc.degree.departmentDepartment of Mechanical Engineeringen_US
dc.degree.levelMaster of Applied Science M.A.Sc.en_US
dc.description.abstractThis thesis investigates the average consensus of multi-agent systems with linear dynamics whose interconnections are modelled by balanced digraphs with matrix- weights. The thesis first introduces the notion of balanced digraphs and mirror graphs for matrix weights. Then it proves that the matrix-weight-balanced con- sensus controller is indeed globally asymptotically stable. The Lyapunov stability analysis exploits the properties of the mirror graph of a balanced digraph. Further, the necessary and sufficient condition for the system to achieve average consensus is shown to be positive definiteness of the matrix weights of its balanced digraph. Simulations with robots in SIMULINK verify that positive definite matrix weights on balanced graphs are indeed necessary and sufficient for average consensus. Fi- nally formation control of a multi-robot system is shown to be an application of the matrix-weight-balanced consensus algorithm using real time simulation of Clearpath Ridgeback robots in Gazebo and ROS.en_US
dc.description.scholarlevelGraduateen_US
dc.identifier.urihttp://hdl.handle.net/1828/10711
dc.languageEnglisheng
dc.language.isoenen_US
dc.rightsAvailable to the World Wide Weben_US
dc.subjectAverage Consensusen_US
dc.subjectMatrix-Weight-Balanceden_US
dc.subjectLyapunov analysisen_US
dc.subjectMirror graphen_US
dc.subjectBalanced digraphen_US
dc.titleAverage consensus in matrix-weight-balanced digraphsen_US
dc.typeThesisen_US

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