چكيده به لاتين
In recent years, control of multi-agent systems has received intensive attention motivated by the fact that there are benefits in replacing multiple simpler vehicles instead of one complicated vehicle. Increased load carrying capacity, transportation of objects with larger dimensions, and covering wider areas are some of the other benefits of multi-agent systems. The agents exchange the information among themselves using communication networks that play an essential role in consensus achievement.
This thesis is composed of two parts. Controller synthesis for object transportation by aerial manipulators (AMs) is addressed in the first part. Initially, modeling of AMs with rigid links as underactuated redundant systems, which was introduced early in this decade, are studied. After that, two AMs are employed for object transportation on an inclined path. The adaptive fuzzy sliding mode control (AFSMC) strategy is developed for cooperation of AMs in object transportation using hybrid force/position control.
The second part of this thesis is devoted to extend the AFSMC method for synchronization of multi-agent underactuated systems which are subjected to time delay and switching topology problems. The model-dependent controllers are prone to failure when they are under these problems. Thus, the extended controller in this thesis is based on AFSMC method. Depending on the structure of equations of motion, the developed controller is less model dependent or completely model-free. The robust part of AFSMC is extended in order to establish synchronization behavior among the agents, their robustness against time delay and switching communication network topology. The simulation results show that, despite the aforementioned problems, the controlled system is robust against them, its performance in stability, regulation and tracking is satisfactory, as well. In addition, the enhanced AFSMC method in this thesis improves the properties corresponding to the transient part of the response in comparison with classical AFSMC.
