Mancini, Giovanni (2014) Balancing cyclic pursuit by means of set-theoretic techniques. [Tesi di dottorato]
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| Tipologia del documento: | Tesi di dottorato |
|---|---|
| Lingua: | English |
| Titolo: | Balancing cyclic pursuit by means of set-theoretic techniques |
| Autori: | Autore Email Mancini, Giovanni g.mancini.0@gmail.com |
| Data: | 31 Marzo 2014 |
| Numero di pagine: | 61 |
| Istituzione: | Università degli Studi di Napoli Federico II |
| Dipartimento: | Ingegneria Elettrica e delle Tecnologie dell'Informazione |
| Scuola di dottorato: | Ingegneria dell'informazione |
| Dottorato: | Ingegneria informatica ed automatica |
| Ciclo di dottorato: | 26 |
| Coordinatore del Corso di dottorato: | nome email Garofalo, Francesco franco.garofalo@unina.it |
| Tutor: | nome email Garofalo, Francesco [non definito] |
| Data: | 31 Marzo 2014 |
| Numero di pagine: | 61 |
| Parole chiave: | set theoretic estimation, multi-agent systems, interval analysis |
| Settori scientifico-disciplinari del MIUR: | Area 09 - Ingegneria industriale e dell'informazione > ING-INF/04 - Automatica |
| Aree tematiche (7° programma Quadro): | TECNOLOGIE DELL'INFORMAZIONE E DELLA COMUNICAZIONE > Ambiente, energia e trasporti |
| Informazioni aggiuntive: | cell 3396452819 |
| Depositato il: | 14 Apr 2014 06:00 |
| Ultima modifica: | 28 Gen 2015 09:49 |
| URI: | http://www.fedoa.unina.it/id/eprint/10016 |
Abstract
We propose a decentralized and non cooperative algorithm for estimation and control in a multi-agent system of oscillators to achieve a balanced circular formation. Each agent gathers an uncertain measurement of its phase distance from other agents only when they are in its proximity. Based on this uncertain and intermittent data and on the a priori knowledge of the nominal (e.g. uncontrolled) agent's velocities, we employ an estimation algorithm to reconstruct the relative angular positions. The algorithm combines the information coming from the collected measures with the information on the agents' dynamics, and its convergence is proved by means of Interval Analysis. Interesting connection are highlighted with contractions and fractals. Then, we develop a bang-bang controller to achieve a balanced circular formation. The ovelty of the approach is that the balanced formation is achieved by using proximity sensors rather than distance transducers. Moreover, the bang-bang control strategy is designed so that the control goal is achieved even when the range of the sensors is lower than the desired spacing distance. The e�ectiveness of the approach is illustrated through extensive numerical simulations.
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