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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.
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 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: 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
Are there universal principles of coordinated group motion and if so what might they be? This carefully edited book presents how natural groupings such as fish schools, bird flocks, deer herds etc. coordinate themselves and move so flawlessly, often without an apparent leader or any form of centralized control. It shows how the underlying principles of cooperative control may be used for groups of mobile autonomous agents to help enable a large group of autonomous robotic vehicles in the air, on land or sea or underwater, to collectively accomplish useful tasks such as distributed, adaptive scientific data gathering, search and rescue, or reconnaissance.
During the last decades, considerable progress has been observed in all aspects regarding the study of cooperative systems including modeling of cooperative systems, resource allocation, discrete event driven dynamical control, continuous and hybrid dynamical control, and theory of the interaction of information, control, and hierarchy. Solution methods have been proposed using control and optimization approaches, emergent rule based techniques, game theoretic and team theoretic approaches. Measures of performance have been suggested that include the effects of hierarchies and information structures on solutions, performance bounds, concepts of convergence and stability, and problem complexity. These and other topics were discusses at the Second Annual Conference on Cooperative Control and Optimization in Gainesville, Florida. Refereed papers written by selected conference participants from the conference are gathered in this volume, which presents problem models, theoretical results, and algorithms for various aspects of cooperative control. Audience: The book is addressed to faculty, graduate students, and researchers in optimization and control, computer sciences and engineering.
This book establishes an important mathematical connection between cooperative control problems and network optimization problems. It shows that many cooperative control problems can in fact be understood, under certain passivity assumptions, using a pair of static network optimization problems. Merging notions from passivity theory and network optimization, it describes a novel network optimization approach that can be applied to the synthesis of controllers for diffusively-coupled networks of passive (or passivity-short) dynamical systems. It also introduces a data-based, model-free approach for the synthesis of network controllers for multi-agent systems with passivity-short agents. Further, the book describes a method for monitoring link faults in multi-agent systems using passivity theory and graph connectivity. It reports on some practical case studies describing the effectivity of the developed approaches in vehicle networks. All in all, this book offers an extensive source of information and novel methods in the emerging field of multi-agent cooperative control, paving the way to future developments of autonomous systems for various application domains
Over the past several years, cooperative control and optimization have increasingly played a larger and more important role in many aspects of military sciences, biology, communications, robotics, and decision making. At the same time, cooperative systems are notoriously difficult to model, analyze, and solve — while intuitively understood, they are not axiomatically defined in any commonly accepted manner. The works in this volume provide outstanding insights into this very complex area of research. They are the result of invited papers and selected presentations at the Fourth Annual Conference on Cooperative Control and Optimization held in Destin, Florida, November 2003.This book has been selected for coverage in: • Index to Scientific & Technical Proceedings® (ISTP® / ISI Proceedings)• Index to Scientific & Technical Proceedings (ISTP CDROM version / ISI Proceedings)• CC Proceedings — Engineering & Physical Sciences
This monograph introduces recent developments in formation control of distributed-agent systems. Eschewing the traditional concern with the dynamic characteristics of individual agents, the book proposes a treatment that studies the formation control problem in terms of interactions among agents including factors such as sensing topology, communication and actuation topologies, and computations. Keeping pace with recent technological advancements in control, communications, sensing and computation that have begun to bring the applications of distributed-systems theory out of the industrial sphere and into that of day-to-day life, this monograph provides distributed control algorithms for a group of agents that may behave together. Unlike traditional control laws that usually require measurements with respect to a global coordinate frame and communications between a centralized operation center and agents, this book provides control laws that require only relative measurements and communications between agents without interaction with a centralized operator. Since the control algorithms presented in this book do not require any global sensing and any information exchanges with a centralized operation center, they can be realized in a fully distributed way, which significantly reduces the operation and implementation costs of a group of agents. Formation Control will give both students and researchers interested in pursuing this field a good grounding on which to base their work.
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.