A large class of cooperative control problems can be cast into consensus seeking systems. These systems aim to achieve a common objective among all agents, in the sense that all local states convergence to a common value, by means of local decision and/or control laws. Stated otherwise, consensus seeking systems aim to achieve a global equilibrium, also referred to as consensus, without the use of a centralized supervisor. The goal of this project is to study and demonstrate the use of ETC in a control seeking problem by means of the Tech United soccer robots.
Ricerca del consenso in un sistema di controllo ad eventi con applicazioni robotiche.
Consensus seeking using event-triggered communication with a robotic application.
LUPPI, ALESSANDRO
2014/2015
Abstract
A large class of cooperative control problems can be cast into consensus seeking systems. These systems aim to achieve a common objective among all agents, in the sense that all local states convergence to a common value, by means of local decision and/or control laws. Stated otherwise, consensus seeking systems aim to achieve a global equilibrium, also referred to as consensus, without the use of a centralized supervisor. The goal of this project is to study and demonstrate the use of ETC in a control seeking problem by means of the Tech United soccer robots.È consentito all'utente scaricare e condividere i documenti disponibili a testo pieno in UNITESI UNIPV nel rispetto della licenza Creative Commons del tipo CC BY NC ND.
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https://hdl.handle.net/20.500.14239/19462