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Cooperative Control of Multi-Agent Systems

Cooperative Control of Multi-Agent Systems
Optimal and Adaptive Design Approaches

by Frank L. Lewis,Hongwei Zhang,Kristian Hengster-Movric,Abhijit Das

  • Publisher : Springer
  • Release : 2014-01-21
  • Pages : 307
  • ISBN : 9781447155737
  • Language : En, Es, Fr & De
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Cooperative Control of Multi-Agent Systems extends optimal control and adaptive control design methods to multi-agent systems on communication graphs. It develops Riccati design techniques for general linear dynamics for cooperative state feedback design, cooperative observer design, and cooperative dynamic output feedback design. Both continuous-time and discrete-time dynamical multi-agent systems are treated. Optimal cooperative control is introduced and neural adaptive design techniques for multi-agent nonlinear systems with unknown dynamics, which are rarely treated in literature are developed. Results spanning systems with first-, second- and on up to general high-order nonlinear dynamics are presented. Each control methodology proposed is developed by rigorous proofs. All algorithms are justified by simulation examples. The text is self-contained and will serve as an excellent comprehensive source of information for researchers and graduate students working with multi-agent systems.

Distributed Cooperative Control and Communication for Multi-agent Systems

Distributed Cooperative Control and Communication for Multi-agent Systems
A Book

by Dong Yue,Huaipin Zhang,Shengxuan Weng

  • Publisher : Springer
  • Release : 2021-03-19
  • Pages : 196
  • ISBN : 9789813367173
  • Language : En, Es, Fr & De
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This book investigates distributed cooperative control and communication of MASs including linear systems, nonlinear systems and multiple rigid body systems. The model-based and data-driven control method are employed to design the (optimal) cooperative control protocol. The approaches of this book consist of model-based and data-driven control such as predictive control, event-triggered control, optimal control, adaptive dynamic programming, etc. From this book, readers can learn about distributed cooperative control methods, data-driven control, finite-time stability analysis, cooperative attitude control of multiple rigid bodies. Some fundamental knowledge prepared to read this book is finite-time stability theory, event-triggered sampling mechanism, adaptive dynamic programming and optimal control.

Cooperative Control of Multi-Agent Systems

Cooperative Control of Multi-Agent Systems
Optimal and Adaptive Design Approaches

by Frank L. Lewis,Hongwei Zhang,Kristian Hengster-Movric,Abhijit Das

  • Publisher : Springer Science & Business Media
  • Release : 2013-12-31
  • Pages : 307
  • ISBN : 1447155742
  • Language : En, Es, Fr & De
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Cooperative Control of Multi-Agent Systems extends optimal control and adaptive control design methods to multi-agent systems on communication graphs. It develops Riccati design techniques for general linear dynamics for cooperative state feedback design, cooperative observer design, and cooperative dynamic output feedback design. Both continuous-time and discrete-time dynamical multi-agent systems are treated. Optimal cooperative control is introduced and neural adaptive design techniques for multi-agent nonlinear systems with unknown dynamics, which are rarely treated in literature are developed. Results spanning systems with first-, second- and on up to general high-order nonlinear dynamics are presented. Each control methodology proposed is developed by rigorous proofs. All algorithms are justified by simulation examples. The text is self-contained and will serve as an excellent comprehensive source of information for researchers and graduate students working with multi-agent systems.

Distributed Cooperative Control of Multi-agent Systems

Distributed Cooperative Control of Multi-agent Systems
A Book

by Wenwu Yu,Guanghui Wen,Guanrong Chen,Jinde Cao

  • Publisher : John Wiley & Sons
  • Release : 2017-05-01
  • Pages : 350
  • ISBN : 1119246202
  • Language : En, Es, Fr & De
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A detailed and systematic introduction to the distributed cooperative control of multi-agent systems from a theoretical, network perspective Features detailed analysis and discussions on the distributed cooperative control and dynamics of multi-agent systems Covers comprehensively first order, second order and higher order systems, swarming and flocking behaviors Provides a broad theoretical framework for understanding the fundamentals of distributed cooperative control

Cooperative Control of Multi-Agent Systems

Cooperative Control of Multi-Agent Systems
Theory and Applications

by Yue Wang,Eloy Garcia,David Casbeer,Fumin Zhang

  • Publisher : John Wiley & Sons
  • Release : 2017-03-20
  • Pages : 320
  • ISBN : 1119266211
  • Language : En, Es, Fr & De
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A comprehensive review of the state of the art in the control of multi-agent systems theory and applications The superiority of multi-agent systems over single agents for the control of unmanned air, water and ground vehicles has been clearly demonstrated in a wide range of application areas. Their large-scale spatial distribution, robustness, high scalability and low cost enable multi-agent systems to achieve tasks that could not successfully be performed by even the most sophisticated single agent systems. Cooperative Control of Multi-Agent Systems: Theory and Applications provides a wide-ranging review of the latest developments in the cooperative control of multi-agent systems theory and applications. The applications described are mainly in the areas of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). Throughout, the authors link basic theory to multi-agent cooperative control practice — illustrated within the context of highly-realistic scenarios of high-level missions — without losing site of the mathematical background needed to provide performance guarantees under general working conditions. Many of the problems and solutions considered involve combinations of both types of vehicles. Topics explored include target assignment, target tracking, consensus, stochastic game theory-based framework, event-triggered control, topology design and identification, coordination under uncertainty and coverage control. Establishes a bridge between fundamental cooperative control theory and specific problems of interest in a wide range of applications areas Includes example applications from the fields of space exploration, radiation shielding, site clearance, tracking/classification, surveillance, search-and-rescue and more Features detailed presentations of specific algorithms and application frameworks with relevant commercial and military applications Provides a comprehensive look at the latest developments in this rapidly evolving field, while offering informed speculation on future directions for collective control systems The use of multi-agent system technologies in both everyday commercial use and national defense is certain to increase tremendously in the years ahead, making this book a valuable resource for researchers, engineers, and applied mathematicians working in systems and controls, as well as advanced undergraduates and graduate students interested in those areas.

Cooperative Control of Multi-Agent Systems

Cooperative Control of Multi-Agent Systems
A Consensus Region Approach

by Zhongkui Li,Zhisheng Duan

  • Publisher : CRC Press
  • Release : 2017-12-19
  • Pages : 262
  • ISBN : 1466569972
  • Language : En, Es, Fr & De
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Distributed controller design is generally a challenging task, especially for multi-agent systems with complex dynamics, due to the interconnected effect of the agent dynamics, the interaction graph among agents, and the cooperative control laws. Cooperative Control of Multi-Agent Systems: A Consensus Region Approach offers a systematic framework for designing distributed controllers for multi-agent systems with general linear agent dynamics, linear agent dynamics with uncertainties, and Lipschitz nonlinear agent dynamics. Beginning with an introduction to cooperative control and graph theory, this monograph: Explores the consensus control problem for continuous-time and discrete-time linear multi-agent systems Studies the H∞ and H2 consensus problems for linear multi-agent systems subject to external disturbances Designs distributed adaptive consensus protocols for continuous-time linear multi-agent systems Considers the distributed tracking control problem for linear multi-agent systems with a leader of nonzero control input Examines the distributed containment control problem for the case with multiple leaders Covers the robust cooperative control problem for multi-agent systems with linear nominal agent dynamics subject to heterogeneous matching uncertainties Discusses the global consensus problem for Lipschitz nonlinear multi-agent systems Cooperative Control of Multi-Agent Systems: A Consensus Region Approach provides a novel approach to designing distributed cooperative protocols for multi-agent systems with complex dynamics. The proposed consensus region decouples the design of the feedback gain matrices of the cooperative protocols from the communication graph and serves as a measure for the robustness of the protocols to variations of the communication graph. By exploiting the decoupling feature, adaptive cooperative protocols are presented that can be designed and implemented in a fully distributed fashion.

Cooperative Control of Multi-agent Systems with Applications

Cooperative Control of Multi-agent Systems with Applications
A Book

by Yao Lu

  • Publisher : Unknown Publisher
  • Release : 2011
  • Pages : 290
  • ISBN : 9876543210XXX
  • Language : En, Es, Fr & De
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Fixed-Time Cooperative Control of Multi-Agent Systems

Fixed-Time Cooperative Control of Multi-Agent Systems
A Book

by Zongyu Zuo,Qing-Long Han,Boda Ning

  • Publisher : Springer
  • Release : 2019-05-28
  • Pages : 153
  • ISBN : 3030202798
  • Language : En, Es, Fr & De
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This monograph presents new theories and methods for fixed-time cooperative control of multi-agent systems. Fundamental concepts of fixed-time stability and stabilization are introduced with insightful understanding. This book presents solutions for several problems of fixed-time cooperative control using systematic design methods. The book compares fixed-time cooperative control with asymptotic cooperative control, demonstrating how the former can achieve better closed-loop performance and disturbance rejection properties. It also discusses the differences from finite-time control, and shows how fixed-time cooperative control can produce the faster rate of convergence and provide an explicit estimate of the settling time independent of initial conditions. This monograph presents multiple applications of fixed-time control schemes, including to distributed optimization of multi-agent systems, making it useful to students, researchers and engineers alike.

Robust Cooperative Control of Multi-Agent Systems

Robust Cooperative Control of Multi-Agent Systems
A Prediction and Observation Prospective

by Chunyan Wang,Zongyu Zuo,Jianan Wang,Zhengtao Ding

  • Publisher : CRC Press
  • Release : 2021-05-19
  • Pages : 230
  • ISBN : 1000376648
  • Language : En, Es, Fr & De
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This book presents a concise introduction to the latest advances in robust cooperative control design for multi-agent systems with input delay and external disturbances, especially from a prediction and observation perspective. The volume covers a wide range of applications, such as the trajectory tracking of quadrotors, formation flying of multiple unmanned aerial vehicles (UAVs) and fixed-time formation of ground vehicles. Robust cooperative control means that multi-agent systems are able to achieve specified control tasks while remaining robust in the face of both parametric and nonparametric model uncertainties. In addition, the authors cover a wide range of key issues in cooperative control, such as communication and input delays, parametric model uncertainties and external disturbances. Moving beyond the scope of existing works, a systematic prediction and observation approach to designing robust cooperative control laws is presented. About the Authors Chunyan Wang is an Associate Professor in the School of Aerospace Engineering at Beijing Institute of Technology, China. Zongyu Zuo is a full Professor with the School of Automation Science and Electrical Engineering, Beihang University, China. Jianan Wang is an Associate Professor in the School of Aerospace Engineering at Beijing Institute of Technology, China. Zhengtao Ding is a Professor in the Department of Electrical and Electronic Engineering at University of Manchester, U.K.

Cooperative Control of Multi-agent Systems by Event-triggered Strategies

Cooperative Control of Multi-agent Systems by Event-triggered Strategies
A Book

by 胡文峰

  • Publisher : Unknown Publisher
  • Release : 2016
  • Pages : 136
  • ISBN : 9876543210XXX
  • Language : En, Es, Fr & De
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Cooperative Control of Multi-Agent Systems with Application to Quadrotor Helicopters

Cooperative Control of Multi-Agent Systems with Application to Quadrotor Helicopters
A Book

by Ulf Pilz

  • Publisher : Unknown Publisher
  • Release : 2013
  • Pages : 144
  • ISBN : 9783843915526
  • Language : En, Es, Fr & De
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Cooperative Control of Multi-Agent Systems

Cooperative Control of Multi-Agent Systems
A Book

by Darrell Sparks

  • Publisher : Createspace Independent Publishing Platform
  • Release : 2018-05-18
  • Pages : 318
  • ISBN : 9781724758491
  • Language : En, Es, Fr & De
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Many of the problems and solutions considered involve combinations of both types of vehicles. Topics explored include target assignment, target tracking, consensus, stochastic game theory-based framework, event-triggered control, topology design and identification, coordination under uncertainty and coverage control.The superiority of multi-agent systems over single agents for the control of unmanned air, water and ground vehicles has been clearly demonstrated in a wide range of application areas. Their large-scale spatial distribution, robustness, high scalability and low cost enable multi-agent systems to achieve tasks that could not successfully be performed by even the most sophisticated single agent systems.

Cooperative Control of Multi-Agent Systems

Cooperative Control of Multi-Agent Systems
An Optimal and Robust Perspective

by Jianan Wang,Chunyan Wang,Ming Xin,Zhengtao Ding,Jiayuan Shan

  • Publisher : Academic Press
  • Release : 2020-03-25
  • Pages : 258
  • ISBN : 0128204451
  • Language : En, Es, Fr & De
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Cooperative Control of Multi-Agent Systems: An Optimal and Robust Perspective reports and encourages technology transfer in the field of cooperative control of multi-agent systems. The book deals with UGVs, UAVs, UUVs and spacecraft, and more. It presents an extended exposition of the authors’ recent work on all aspects of multi-agent technology. Modelling and cooperative control of multi-agent systems are topics of great interest, across both academia (research and education) and industry (for real applications and end-users). Graduate students and researchers from a wide spectrum of specialties in electrical, mechanical or aerospace engineering fields will use this book as a key resource. Helps shape the reader's understanding of optimal and robust cooperative control design techniques for multi-agent systems Presents new theoretical control challenges and investigates unresolved/open problems Explores future research trends in multi-agent systems Offers a certain amount of analytical mathematics, practical numerical procedures, and actual implementations of some proposed approaches

Cooperative Control of Multi-Agent Systems

Cooperative Control of Multi-Agent Systems
A Book

by James Cooper

  • Publisher : Createspace Independent Publishing Platform
  • Release : 2017-09-19
  • Pages : 318
  • ISBN : 9781984964175
  • Language : En, Es, Fr & De
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Cooperative Control of Multi-Agent Systems provides a novel approach to designing distributed cooperative protocols for multi-agent systems with complex dynamics. The proposed consensus region decouples the design of the feedback gain matrices of the cooperative protocols from the communication graph and serves as a measure for the robustness of the protocols to variations of the communication graph. By exploiting the decoupling feature, adaptive cooperative protocols are presented that can be designed and implemented in a fully distributed fashion.

Cooperative Control of Multi-Agent Systems

Cooperative Control of Multi-Agent Systems
A Book

by Malcolm Jeremiah

  • Publisher : Createspace Independent Publishing Platform
  • Release : 2017-10-11
  • Pages : 318
  • ISBN : 9781984358424
  • Language : En, Es, Fr & De
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This monograph is certainly for a specialist in multi-agent systems. It will be useful to researchers and to advanced course control engineers where multi-agent systems are covered. It's useful as a reference text and it has a good bibliography. Cooperative Control of Multi-Agent Systems offers a systematic framework for designing distributed controllers for multi-agent systems with general linear agent dynamics, linear agent dynamics with uncertainties, and Lipschitz nonlinear agent dynamics.The proposed consensus region decouples the design of the feedback gain matrices of the cooperative protocols from the communication graph and serves as a measure for the robustness of the protocols to variations of the communication graph.

Cooperative Tracking Control and Regulation for a Class of Multi-agent Systems

Cooperative Tracking Control and Regulation for a Class of Multi-agent Systems
A Book

by Hongjing Liang,Huaguang Zhang

  • Publisher : Springer
  • Release : 2019-05-28
  • Pages : 173
  • ISBN : 9811383596
  • Language : En, Es, Fr & De
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This book focuses on the characteristics of cooperative control problems for general linear multi-agent systems, including formation control, air traffic control, rendezvous, foraging, role assignment, and cooperative search. On this basis and combined with linear system theory, it introduces readers to the cooperative tracking problem for identical continuous-time multi-agent systems under state-coupled dynamics; the cooperative output regulation for heterogeneous multi-agent systems; and the optimal output regulation for model-free multi-agent systems. In closing, the results are extended to multiple leaders, and cooperative containment control for uncertain multi-agent systems is addressed. Given its scope, the book offers an essential reference guide for researchers and designers of multi-agent systems, as well as a valuable resource for upper-level undergraduate and graduate students.

Cooperative Control of Distributed Multi-Agent Systems

Cooperative Control of Distributed Multi-Agent Systems
A Book

by Jeff Shamma

  • Publisher : John Wiley & Sons
  • Release : 2008-02-28
  • Pages : 452
  • ISBN : 9780470724194
  • Language : En, Es, Fr & De
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The paradigm of ‘multi-agent’ cooperative control is the challenge frontier for new control system application domains, and as a research area it has experienced a considerable increase in activity in recent years. This volume, the result of a UCLA collaborative project with Caltech, Cornell and MIT, presents cutting edge results in terms of the “dimensions” of cooperative control from leading researchers worldwide. This dimensional decomposition allows the reader to assess the multi-faceted landscape of cooperative control. Cooperative Control of Distributed Multi-Agent Systems is organized into four main themes, or dimensions, of cooperative control: distributed control and computation, adversarial interactions, uncertain evolution and complexity management. The military application of autonomous vehicles systems or multiple unmanned vehicles is primarily targeted; however much of the material is relevant to a broader range of multi-agent systems including cooperative robotics, distributed computing, sensor networks and data network congestion control. Cooperative Control of Distributed Multi-Agent Systems offers the reader an organized presentation of a variety of recent research advances, supporting software and experimental data on the resolution of the cooperative control problem. It will appeal to senior academics, researchers and graduate students as well as engineers working in the areas of cooperative systems, control and optimization.

Cooperative Control of Multi-Agent Systems

Cooperative Control of Multi-Agent Systems
An Optimal and Robust Perspective

by Jianan Wang,Chunyan Wang,Ming Xin,Jiayuan Shan,Zhengtao Ding

  • Publisher : Academic Press
  • Release : 2020-04
  • Pages : 370
  • ISBN : 9780128201183
  • Language : En, Es, Fr & De
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Cooperative Control of Multi-agent Systems: An Optimal and Robust Perspective reports and encourages technology transfer in the field of cooperative control of multi-agent systems and presents recent advances in this area, contributed by leading international researchers in systems and control and specialists in engineering cybernetics. The book deals with new technological issues of cooperative control of multiple agents, such as UGVs, UAVs, UUVs, and spacecraft, etc. It presents an extended exposition of the authors' recent work in all aspects of multi-agent technology for a wide and rapid dissemination. Modelling and cooperative control of multi-agent systems are topics of great interest all over the world, across both academia (research and education) and industry (for real applications and and-users). Graduate students and researchers from a wide spectrum of specialties in electrical, mechanical, or aerospace engineering fields will use this book as a key resource. It will also be of keen interest to experts and industrial control engineers working to resolve cooperative control problems.

Cooperative Control of Multi-agent Systems Stability, Optimality and Robustness

Cooperative Control of Multi-agent Systems Stability, Optimality and Robustness
A Book

by Kristian Hengster Movric,ProQuest Dissertations and Theses (Electronic resource collection),University of Texas at Arlington. College of Engineering

  • Publisher : Unknown Publisher
  • Release : 2013
  • Pages : 129
  • ISBN : 9876543210XXX
  • Language : En, Es, Fr & De
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In this work design methods are given for distributed synchronization control of multi-agent systems on directed communication graphs. Conditions are derived based on the relation of the graph eigenvalues to a region in a complex plane that depends on the single-agent system and the solution of the local Riccati equation. The synchronizing region concept is used. Cooperative observer design, guaranteeing convergence of the local estimates to their true values, is also proposed. The notion of convergence region for distributed observers is introduced. A duality principle is shown to hold for distributed observers and controllers on balanced graph topologies. Application of cooperative observers is made to the distributed synchronization problem. Three dynamic regulator architectures are proposed for cooperative synchronization.In the second part this work brings together stability and optimality theory to design distributed cooperative control protocols, which guarantee consensus and are globally optimal with respect to a structured performance criterion. Here an inverse optimality approach is used together with partial stability to consider cooperative consensus and synchronization algorithms. A new class of digraphs is defined admitting a distributed solution to the global optimal control problem.The third part of this work investigates cooperative control performance under disturbances, and distributed static output-feedback control. Control design for the state consensus in presence of disturbances is investigated. Derived results are also applicable to multi-agent systems with heterogeneous agents. If, on the other hand, one constrains the control to be of the static output-feedback form, one needs to redefine the synchronizing region as the output-feedback synchronizing region.Contributions to Discrete-time Multi-agent Consensus ProblemThe main contribution to the discrete-time multi-agent consensus problem is the proposed design method based on local Riccati feedback gains, guaranteeing cooperative stability and convergence to consensus.Contributions to Globally Optimal Distributed Control ProblemThe globally optimal distributed synchronization control protocols are investigated. The main contribution is in merging the notions of inverse optimality and partial stability to guarantee robust stabilization to the noncompact consensus manifold. Furthermore, second contribution is the introduction of the class of digraphs that gives a distributed solution to a structured global optimal control problem.Contributions to Cooperative Robustness of Multi-agent SystemsThe robustness properties of asymptotic and exponential stability are applied in the context of cooperative stability for consensus. The results are based on Lyapunov functions for noncompact manifolds, and the pertinent stability and robustness properties are further elaborated. Distributed and local observers are utilized for disturbance compensation. Contributions to Distributed Output-feedback for State SynchronizationAn application of the cooperative stability analysis, via synchronizing region, to the distributed output-feedback is presented. It is shown that the guaranteed synchronizing region for output-feedback can be both bounded and unbounded.

Distributed Cooperative Control for Multi-agent Systems

Distributed Cooperative Control for Multi-agent Systems
A Book

by Guoguang Wen

  • Publisher : Unknown Publisher
  • Release : 2012
  • Pages : 153
  • ISBN : 9876543210XXX
  • Language : En, Es, Fr & De
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This dissertation focuses on distributed cooperative control of multi-agent systems. First, the leader-following consensus for multi-agent systems with nonlinear dynamics is investigated. Three consensus algorithms are proposed and some sufficient conditions are obtained for the states of followers converging to the state of virtual leader globally exponentially. Second, the consensus tracking for multi-agent systems with nonlinear dynamics is investigated. Some consensus tracking algorithms are developed, and some sufficient conditions are obtained. Based on these consensus tracking algorithms and sufficient conditions, it is shown that in first-order multi-agent systems all followers can track the virtual leader in finite time, and in second-order multi-agent systems the consensus tracking can be achieved at least globally exponentially. Third, the path planning and motion control of multi-agent formation is studied, where a practical framework is provided. In order to find a collision-free and deadlock-free feasible path for the whole formation, an optimizing algorithm is given to optimize the path generated by A* search algorithm. In order to realize the cohesive motion of a persistent formation in 3-dimensional space, a set of decentralized control laws is designed. Finally, the formation keeping problem is studied. We mainly focus on the closing ranks problem, which deals with the addition of links to a rigid multi-agent formation that is "damaged" by losing one of its agents, in order to recover rigidity. Some graph theoretical results are obtained, and some systematic 'self-repair' operations are proposed to recover the rigidity in case of agent removals.