Path Following and Output Synchronization of Homogeneous Linear Time-Invariant Systems
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Date
2018-04-20
Authors
Steinfeld, Maxwell
Advisor
Nielsen, Christopher
Journal Title
Journal ISSN
Volume Title
Publisher
University of Waterloo
Abstract
This thesis examines two aspects of the path following control design problem for Linear
Time-Invariant (L.T.I.) systems assigned closed curves in their output space. In the first
part of the thesis we define a path following normal form for L.T.I. systems and study
structural properties related to this normal form. We isolate how unstable zero dynamics
alter the feasibility of using the path following normal form for control design. In the second
half of the thesis we consider a synchronized path following problem for a homogenous
multi-agent system and cast the problem as an instance of an output synchronization
problem to leverage recent results from the literature. It is desired that each individual
agent follow a specified path. The agents communicate with one another over an idealized
communication network to synchronize their positions along the path. The main result is
the construction of a dynamic feedback coupling that drives all the agents in the network
to their respective reference paths while simultaneously synchronizing their positions along
the path. Laboratory results are presented to illustrate the effectiveness of the proposed
approach.
Description
Keywords
Path Following, Output Synchronization, Multi-Agent System