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Author: William Grant Whittington
Publisher:
ISBN:
Category : Adaptive control systems
Languages : en
Pages :
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Book Description
Automation has become increasingly prevalent in all forms of society. Activities that are too difficult for a human or to dangerous can be done by machines which do not share those downsides. In addition, tasks can be scheduled more precisely and accurately. Increases in the autonomy have allowed for a new level of tasks which are completed by teams of automated agents rather than a single one, called cooperative control. This has many benefits; but comes at the cost of increased complexity and coordination. The main thrust of research in this field is problem based, considering communication issues as a secondary feature. There is a gap considering problems in which many changes occur as rapidly as communication and the issues that arise as a result. This is the main motivation. This research presents an approach to cooperative control in highly variable systems and tackles some of the issues present in such a system. One of the most important issues is the communication network itself, which is used as an indicator for how healthy the system is an how well it may react to future changes. Therefore using the network as an input to control allows the system to navigate between conservative and aggressive techniques to improve performance while still maintaining robustness. Results are based on a test bed designed to simulate a wide variety of problem types based on: network type; numbers of actors; frequency of changes; impact of changes and method of change. The developed control method is compared to the baseline case ignoring cooperation as well as an idealized case assuming perfect system knowledge. The baseline represents sacrifices coordination to achieve a high level of robustness at reduced performance while the idealized case represents the best possible performance. The control techniques developed give a performance at least as good as the baseline case if not better for all simulations.
Author: William Grant Whittington
Publisher:
ISBN:
Category : Adaptive control systems
Languages : en
Pages :
Get Book Here
Book Description
Automation has become increasingly prevalent in all forms of society. Activities that are too difficult for a human or to dangerous can be done by machines which do not share those downsides. In addition, tasks can be scheduled more precisely and accurately. Increases in the autonomy have allowed for a new level of tasks which are completed by teams of automated agents rather than a single one, called cooperative control. This has many benefits; but comes at the cost of increased complexity and coordination. The main thrust of research in this field is problem based, considering communication issues as a secondary feature. There is a gap considering problems in which many changes occur as rapidly as communication and the issues that arise as a result. This is the main motivation. This research presents an approach to cooperative control in highly variable systems and tackles some of the issues present in such a system. One of the most important issues is the communication network itself, which is used as an indicator for how healthy the system is an how well it may react to future changes. Therefore using the network as an input to control allows the system to navigate between conservative and aggressive techniques to improve performance while still maintaining robustness. Results are based on a test bed designed to simulate a wide variety of problem types based on: network type; numbers of actors; frequency of changes; impact of changes and method of change. The developed control method is compared to the baseline case ignoring cooperation as well as an idealized case assuming perfect system knowledge. The baseline represents sacrifices coordination to achieve a high level of robustness at reduced performance while the idealized case represents the best possible performance. The control techniques developed give a performance at least as good as the baseline case if not better for all simulations.
Author: Wei Ren
Publisher: Springer Science & Business Media
ISBN: 1848000154
Category : Technology & Engineering
Languages : en
Pages : 315
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Book Description
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.
Author: Yongduan Song
Publisher: Springer
ISBN: 3030049728
Category : Technology & Engineering
Languages : en
Pages : 197
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Book Description
Cooperative Control of Nonlinear Networked Systems is concerned with the distributed cooperative control of multiple networked nonlinear systems in the presence of unknown non-parametric uncertainties and non-vanishing disturbances under certain communication conditions. It covers stability analysis tools and distributed control methods for analyzing and synthesizing nonlinear networked systems. The book presents various solutions to cooperative control problems of multiple networked nonlinear systems on graphs. The book includes various examples with segments of MATLAB® codes for readers to verify, validate, and replicate the results. The authors present a series of new control results for nonlinear networked systems subject to both non-parametric and non-vanishing uncertainties, including the cooperative uniformly ultimately bounded (CUUB) result, finite-time stability result, and finite-time cooperative uniformly ultimately bounded (FT-CUUB) result. With some mathematical tools, such as algebraic graph theory and certain aspects of matrix analysis theory introduced by the authors, the readers can obtain a deeper understanding of the roles of matrix operators as mathematical machinery for cooperative control design for multi-agent systems. Cooperative Control of Nonlinear Networked Systems is a valuable source of information for researchers and engineers in cooperative adaptive control, as its technical contents are presented with examples in full analytical and numerical detail, and graphically illustrated for easy-to-understand results. Scientists in research institutes and academics in universities working on nonlinear systems, adaptive control and distributed control will find the book of interest, as it contains multi-disciplinary problems and covers different areas of research.
Author: Guanghui Wen
Publisher: CRC Press
ISBN: 1000400182
Category : Technology & Engineering
Languages : en
Pages : 305
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Book Description
Far from being separate entities, many social and engineering systems can be considered as complex network systems (CNSs) associated with closely linked interactions with neighbouring entities such as the Internet and power grids. Roughly speaking, a CNS refers to a networking system consisting of lots of interactional individuals, exhibiting fascinating collective behaviour that cannot always be anticipated from the inherent properties of the individuals themselves. As one of the most fundamental examples of cooperative behaviour, consensus within CNSs (or the synchronization of complex networks) has gained considerable attention from various fields of research, including systems science, control theory and electrical engineering. This book mainly studies consensus of CNSs with dynamics topologies - unlike most existing books that have focused on consensus control and analysis for CNSs under a fixed topology. As most practical networks have limited communication ability, switching graphs can be used to characterize real-world communication topologies, leading to a wider range of practical applications. This book provides some novel multiple Lyapunov functions (MLFs), good candidates for analysing the consensus of CNSs with directed switching topologies, while each chapter provides detailed theoretical analyses according to the stability theory of switched systems. Moreover, numerical simulations are provided to validate the theoretical results. Both professional researchers and laypeople will benefit from this book.
Author: Martin Jilg
Publisher: kassel university press GmbH
ISBN: 3737604541
Category :
Languages : en
Pages : 227
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Book Description
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: 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: Wenying Xu
Publisher: Springer Nature
ISBN: 9811956545
Category : Technology & Engineering
Languages : en
Pages : 195
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Book Description
The book provides a systematic and in-depth introduction to distributed event-triggered cooperative control for multi-agent systems from a theoretical perspective, which will be of particular interest to the readers. The included major research topics include: a unified design and analysis framework for centralized, clustered and distributed event-triggered schemes; fully distributed design for event/self-triggered schemes; resilient event-triggered control under malicious attacks; and various methods to aovid Zeno behavior. The comprehensive and systematic treatment of event-triggered communication and control in multi-agent system is one of the major features of the book, which is particularly suited for readers who are interested in learning principles and methods to deal with communication constraints in multi-agent systems and to design energy-saving control protocols. The book can benefit researchers, engineers, and graduate students in the fields of complex networks, smart grids, applied mathematics, electrical and electronic engineering, and computer engineering, etc.
Author: Sergiy Butenko
Publisher: Springer Science & Business Media
ISBN: 1475737580
Category : Mathematics
Languages : en
Pages : 365
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Book Description
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.
Author: Yue Wang
Publisher: John Wiley & Sons
ISBN: 1119266122
Category : Technology & Engineering
Languages : en
Pages : 314
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Book Description
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.
