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Author: Frank L. Lewis
Publisher: Springer Science & Business Media
ISBN: 1447155742
Category : Technology & Engineering
Languages : en
Pages : 315
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Book Description
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.
Author: Frank L. Lewis
Publisher: Springer Science & Business Media
ISBN: 1447155742
Category : Technology & Engineering
Languages : en
Pages : 315
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Book Description
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.
Author: Wenwu Yu
Publisher: John Wiley & Sons
ISBN: 1119246202
Category : Science
Languages : en
Pages : 254
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Book Description
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
Author: Jianan Wang
Publisher: Academic Press
ISBN: 0128204451
Category : Technology & Engineering
Languages : en
Pages : 260
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Book Description
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
Author: Magdi S. Mahmoud
Publisher: CRC Press
ISBN: 1000078108
Category : Computers
Languages : en
Pages : 330
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Book Description
Multiagent systems (MAS) are one of the most exciting and the fastest growing domains in the intelligent resource management and agent-oriented technology, which deals with modeling of autonomous decisions making entities. Recent developments have produced very encouraging results in the novel approach of handling multiplayer interactive systems. In particular, the multiagent system approach is adapted to model, control, manage or test the operations and management of several system applications including multi-vehicles, microgrids, multi-robots, where agents represent individual entities in the network. Each participant is modeled as an autonomous participant with independent strategies and responses to outcomes. They are able to operate autonomously and interact pro-actively with their environment. In recent works, the problem of information consensus is addressed, where a team of vehicles communicate with each other to agree on key pieces of information that enable them to work together in a coordinated fashion. The problem is challenging because communication channels have limited range and there are possibilities of fading and dropout. The book comprises chapters on synchronization and consensus in multiagent systems. It shows that the joint presentation of synchronization and consensus enables readers to learn about similarities and differences of both concepts. It reviews the cooperative control of multi-agent dynamical systems interconnected by a communication network topology. Using the terminology of cooperative control, each system is endowed with its own state variable and dynamics. A fundamental problem in multi-agent dynamical systems on networks is the design of distributed protocols that guarantee consensus or synchronization in the sense that the states of all the systems reach the same value. It is evident from the results that research in multiagent systems offer opportunities for further developments in theoretical, simulation and implementations. This book attempts to fill this gap and aims at presenting a comprehensive volume that documents theoretical aspects and practical applications.
Author: Zhongkui Li
Publisher: CRC Press
ISBN: 1466569972
Category : Computers
Languages : en
Pages : 263
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Book Description
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.
Author: He Bai
Publisher: Springer Science & Business Media
ISBN: 1461400147
Category : Technology & Engineering
Languages : en
Pages : 217
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Book Description
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.
Author: Wei Ren
Publisher: Springer Science & Business Media
ISBN: 0857291696
Category : Technology & Engineering
Languages : en
Pages : 312
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Book Description
Distributed Coordination of Multi-agent Networks introduces problems, models, and issues such as collective periodic motion coordination, collective tracking with a dynamic leader, and containment control with multiple leaders, and explores ideas for their solution. Solving these problems extends the existing application domains of multi-agent networks; for example, collective periodic motion coordination is appropriate for applications involving repetitive movements, collective tracking guarantees tracking of a dynamic leader by multiple followers in the presence of reduced interaction and partial measurements, and containment control enables maneuvering of multiple followers by multiple leaders.
Author: Zhihua Qu
Publisher: Springer Science & Business Media
ISBN: 1848823258
Category : Technology & Engineering
Languages : en
Pages : 335
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Book Description
Stability theory has allowed us to study both qualitative and quantitative properties of dynamical systems, and control theory has played a key role in designing numerous systems. Contemporary sensing and communication n- works enable collection and subscription of geographically-distributed inf- mation and such information can be used to enhance signi?cantly the perf- manceofmanyofexisting systems. Throughasharedsensing/communication network,heterogeneoussystemscannowbecontrolledtooperaterobustlyand autonomously; cooperative control is to make the systems act as one group and exhibit certain cooperative behavior, and it must be pliable to physical and environmental constraints as well as be robust to intermittency, latency and changing patterns of the information ?ow in the network. This book attempts to provide a detailed coverage on the tools of and the results on analyzing and synthesizing cooperative systems. Dynamical systems under consideration can be either continuous-time or discrete-time, either linear or non-linear, and either unconstrained or constrained. Technical contents of the book are divided into three parts. The ?rst part consists of Chapters 1, 2, and 4. Chapter 1 provides an overview of coope- tive behaviors, kinematical and dynamical modeling approaches, and typical vehicle models. Chapter 2 contains a review of standard analysis and design tools in both linear control theory and non-linear control theory. Chapter 4 is a focused treatment of non-negativematrices and their properties,multipli- tive sequence convergence of non-negative and row-stochastic matrices, and the presence of these matrices and sequences in linear cooperative systems.
Author: Sadao Kawamura
Publisher: Springer Science & Business Media
ISBN: 3540373470
Category : Technology & Engineering
Languages : en
Pages : 360
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Book Description
This volume surveys three decades of modern robot control theory and describes how the work of Suguru Arimoto shaped its development. Twelve survey articles written by experts associated with Suguru Arimoto at various stages in his career treat the subject comprehensively. This book provides an important reference for graduate students and researchers, as well as for mathematicians, engineers and scientists whose work involves robot control theory.
Author: Hyo-Sung Ahn
Publisher: Springer
ISBN: 3030151875
Category : Technology & Engineering
Languages : en
Pages : 368
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Book Description
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.
