Cooperative Control Of Nonlinear Multi Agent Systems
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Cooperative Control Of Multi Agent Systems
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Author : Frank L. Lewis
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-12-31
Cooperative Control Of Multi Agent Systems written by Frank L. Lewis and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-12-31 with Technology & Engineering categories.
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.
Cooperative Control Of Multi Agent Systems
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Author : Zhongkui Li
language : en
Publisher: CRC Press
Release Date : 2017-12-19
Cooperative Control Of Multi Agent Systems written by Zhongkui Li and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-12-19 with Computers categories.
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 Nonlinear Multi Agent Systems In Dynamical Networks
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Author : 曹阳
language : en
Publisher:
Release Date : 2019
Cooperative Control Of Nonlinear Multi Agent Systems In Dynamical Networks written by 曹阳 and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019 with Multiagent systems categories.
Cooperative Control Of Nonlinear Multiagent Systems
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Author : Jin-Liang Wang
language : en
Publisher: Elsevier
Release Date : 2024-11-05
Cooperative Control Of Nonlinear Multiagent Systems written by Jin-Liang Wang and has been published by Elsevier this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-11-05 with Computers categories.
Cooperative Control for Nonlinear Multiagent Systems: Passivity-Based and Non-Passivity-Based Approaches focuses on the cooperative control of nonlinear multiagent systems containing passivity-based or non-passivity-based consensus, lag consensus, and formation control of multiagent systems. The book provides professional and convenient guidance for those who want to know basic knowledge, advancements, and processes for designing and analyzing cooperative control for nonlinear multiagent systems.Currently, there are a lack of reference titles that systematically introduce students, researchers, and technologists to the backgrounds, developments, and designs protocols for cooperative control (contains passivity-based or not passivity-based consensus, lag consensus, formation control) of nonlinear multiagent systems. - Constructs the frameworks of passivity analysis, consensus control, lag consensus control, and formation control for multiagent systems - Helps readers learn novel control methods - Includes systematic introductions and detailed implementations on how control protocols solve problems in nonlinear multiagent systems
Cooperative Control Of Nonlinear Multi Agent Systems
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Author : Lei Liu
language : en
Publisher:
Release Date : 2016
Cooperative Control Of Nonlinear Multi Agent Systems written by Lei Liu and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with categories.
Multi-agent systems have attracted great interest due to their potential applications in a variety of areas. In this dissertation, a nonlinear consensus algorithm is developed for networked Euler-Lagrange multi-agent systems. The proposed consensus algorithm guarantees that all agents can reach a common state in the workspace. Meanwhile, the external disturbances and structural uncertainties are fundamentally considered in the controller design. The robustness of the proposed consensus algorithm is then demonstrated in the stability analysis. Furthermore, experiments are conducted to validate the effectiveness of the proposed consensus algorithm. Next, a distributed leader-follower formation tracking controller is developed for networked nonlinear multi-agent systems. The dynamics of each agent are modeled by Euler-Lagrange equations, and all agents are guaranteed to track a desired time-varying trajectory in the presence of noise. The fault diagnosis strategy of the nonlinear multi-agent system is also investigated with the help of differential geometry tools. The effectiveness of the proposed controller is verified through simulations. To further extend the application area of the multi-agent technique, a distributed robust controller is then developed for networked Lipschitz nonlinear multi-agent systems. With the appearance of system uncertainties and external disturbances, a sampled-data feedback control protocol is carried out through the Lyapunov functional approach. The effectiveness of the proposed controller is verified by numerical simulations. Other than the robustness and sampled-data information exchange, this dissertation is also concerned with the event-triggered consensus problem for the Lipschitz nonlinear multi-agent systems. Furthermore, the sufficient condition for the stochastic stabilization of the networked control system is proposed based on the Lyapunov functional method. Finally, simulation is conducted to demonstrate the effectiveness of the proposed control algorithm. In this dissertation, the cooperative control of networked Euler-Lagrange systems and networked Lipschitz systems is investigated essentially with the assistance of nonlinear control theory and diverse controller design techniques. The main objective of this work is to propose realizable control algorithms for nonlinear multi-agent systems.
Cooperative Control Of Multi Agent Systems
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Author : He Cai
language : en
Publisher: Springer Nature
Release Date : 2022-05-31
Cooperative Control Of Multi Agent Systems written by He Cai and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-05-31 with Technology & Engineering categories.
The main focus of this book is a pair of cooperative control problems: consensus and cooperative output regulation. Its emphasis is on complex multi-agent systems characterized by strong nonlinearity, large uncertainty, heterogeneity, external disturbances and jointly connected switching communication topologies. The cooperative output regulation problem is a generalization of the classical output regulation problem to multi-agent systems and it offers a general framework for handling a variety of cooperative control problems such as consensus, formation, tracking and disturbance rejection. The book strikes a balance between rigorous mathematical proof and engineering practicality. Every design method is systematically presented together with illustrative examples and all the designs are validated by computer simulation. The methods presented are applied to several practical problems, among them the leader-following consensus problem of multiple Euler–Lagrange systems, attitude synchronization of multiple rigid-body systems, and power regulation of microgrids. The book gives a detailed exposition of two approaches to the design of distributed control laws for complex multi-agent systems—the distributed-observer and distributed-internal-model approaches. Mastering both will enhance a reader’s ability to deal with a variety of complex real-world problems. Cooperative Control of Multi-agent Systems can be used as a textbook for graduate students in engineering, sciences, and mathematics, and can also serve as a reference book for practitioners and theorists in both industry and academia. Some knowledge of the fundamentals of linear algebra, calculus, and linear systems are needed to gain maximum benefit from this book. Advances in Industrial Control reports and encourages the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.
Cooperative Control Of Multi Agent Systems
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Author : Guanglei Zhao
language : en
Publisher: Springer Nature
Release Date : 2024-03-23
Cooperative Control Of Multi Agent Systems written by Guanglei Zhao and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-03-23 with Technology & Engineering categories.
This book focuses on stability analysis and control design approaches for multi-agent systems under network-induced constraints. A hybrid system approach is introduced to address the cooperative control problem of networked multi-agent systems, and several important topics such as asynchronous sampled data cooperative control, hybrid event-triggered cooperative control, and reset-based cooperative control are studied under the hybrid system framework. The special feature of this book is that a hybrid systems approach is proposed for the cooperative control of multi-agent systems, which is beneficial for relaxing the conservativeness of stability analysis and network parameter computation. Interested readers can learn a novel approach to cooperative control of multi-agent systems, and this book can benefit researchers, engineers, and graduate students in the fields of multi-robot cooperation, unmanned aerial vehicle formation, control engineering, etc.
Cooperative Control Design
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Author : He Bai
language : en
Publisher: Springer Science & Business Media
Release Date : 2011-06-03
Cooperative Control Design written by He Bai and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-06-03 with Technology & Engineering categories.
Cooperative Control Design: A Systematic, Passivity-Based Approach discusses multi-agent coordination problems, including formation control, attitude coordination, and synchronization. The goal of the book is to introduce passivity as a design tool for multi-agent systems, to provide exemplary work using this tool, and to illustrate its advantages in designing robust cooperative control algorithms. The discussion begins with an introduction to passivity and demonstrates how passivity can be used as a design tool for motion coordination. Followed by the case of adaptive redesigns for reference velocity recovery while describing a basic design, a modified design and the parameter convergence problem. Formation control is presented as it relates to relative distance control and relative position control. The coverage is concluded with a comprehensive discussion of agreement and the synchronization problem with an example using attitude coordination.
Distributed Consensus In Multi Vehicle Cooperative Control
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Author : Wei Ren
language : en
Publisher: Springer Science & Business Media
Release Date : 2007-10-27
Distributed Consensus In Multi Vehicle Cooperative Control written by Wei Ren and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007-10-27 with Technology & Engineering categories.
Assuming only neighbor-neighbor interaction among vehicles, this monograph develops distributed consensus strategies that ensure that the information states of all vehicles in a network converge to a common value. Readers learn to deal with groups of autonomous vehicles in aerial, terrestrial, and submarine environments. Plus, they get the tools needed to overcome impaired communication by using constantly updated neighbor-neighbor interchange.