Show simple item record

dc.contributor.authorAbbasi Doustvatan, Farshid
dc.date.accessioned2017-03-21T04:30:25Z
dc.date.available2017-03-21T04:30:25Z
dc.date.issued2016-12
dc.identifier.otherabbasi-doustvatan_farshid_201612_phd
dc.identifier.urihttp://purl.galileo.usg.edu/uga_etd/abbasi-doustvatan_farshid_201612_phd
dc.identifier.urihttp://hdl.handle.net/10724/36554
dc.description.abstractIn the present dissertation, a team-based coverage control is proposed that aims at deploying groups of agents to an environment with a probability distribution function representing the likelihood of an event in different regions. The proposed approach can handle the deployment of heterogeneous teams agents each of which pursing a different objective or assigned task. The presented approaches are then implemented on a set of numerical examples to asses their performance. As the next task and in a different domain, the development of robust nonlinear control techniques is studied for uncertain systems. Various types of uncertainty is investigated in three major areas; first, a robust identification approach is proposed for the emph{Linear Parameter Varying} (LPV) identification of nonlinear systems with uncertain Scheduling variables. Two deterministic and stochastic techniques are developed and their performance are compared with the previous methods in the literature. Next, a robust reduced-order model based controller is designed for a system represented by a parabolic emph{Partial Differential Equation} (PDE). The objective is to take into account the variation of the model parameter and its effect on the reduced-order model. Then, the reduced model is used to design a robust nonlinear controller to control the main full-order model.
dc.languageeng
dc.publisheruga
dc.rightspublic
dc.subjectMulti-agent Systems, heterogeneous agents, coverage control, team-based coverage, Linear Parameter-varying Models, System Identification, Robust Control, Nonlinear Control
dc.titleCoverage control for heterogeneous multi-agent systems
dc.typeDissertation
dc.description.degreePhD
dc.description.departmentEngineering
dc.description.majorEngineering
dc.description.advisorJavad Mohammadpour
dc.description.committeeJavad Mohammadpour
dc.description.committeeCaner Kazanci
dc.description.committeeMark A. Haidekker


Files in this item

FilesSizeFormatView

There are no files associated with this item.

This item appears in the following Collection(s)

Show simple item record