Asynchronous distributed algorithms for multi-agent supporting systems

Based on multi-agent supporting system (MASS) structures used to investigate the synchronous algorithms in my previous work, the partially and totally asynchronous distributed algorithms are proposed in this thesis. The stability of discrete MASS with asynchronous distributed algorithms is analyzed. The partially asynchronous algorithms proposed for both 1- and 2-dimensional MASS are proven to be convergent, if the vertical disturbances vary sufficiently slower than the convergent time of the system. The adjacent error becomes zero when the system converges. It is also proven that in 1-dimensional MASS using the proposed totally asynchronous algorithm, the maximum of the absolute value of the adjacent error is non-increasing over time. Finally, the simulation results for all the above cases are presented to demonstrate the theoretical findings.