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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: Masaaki Nagahara
Publisher: Springer Nature
ISBN: 3031529812
Category :
Languages : en
Pages : 244
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Book Description
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: 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: 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: 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: 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.
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: Michael Wooldridge
Publisher: John Wiley & Sons
ISBN: 0470519460
Category : Computers
Languages : en
Pages : 484
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Book Description
The study of multi-agent systems (MAS) focuses on systems in which many intelligent agents interact with each other. These agents are considered to be autonomous entities such as software programs or robots. Their interactions can either be cooperative (for example as in an ant colony) or selfish (as in a free market economy). This book assumes only basic knowledge of algorithms and discrete maths, both of which are taught as standard in the first or second year of computer science degree programmes. A basic knowledge of artificial intelligence would useful to help understand some of the issues, but is not essential. The book’s main aims are: To introduce the student to the concept of agents and multi-agent systems, and the main applications for which they are appropriate To introduce the main issues surrounding the design of intelligent agents To introduce the main issues surrounding the design of a multi-agent society To introduce a number of typical applications for agent technology After reading the book the student should understand: The notion of an agent, how agents are distinct from other software paradigms (e.g. objects) and the characteristics of applications that lend themselves to agent-oriented software The key issues associated with constructing agents capable of intelligent autonomous action and the main approaches taken to developing such agents The key issues in designing societies of agents that can effectively cooperate in order to solve problems, including an understanding of the key types of multi-agent interactions possible in such systems The main application areas of agent-based systems
Author: Marcio de Queiroz
Publisher: John Wiley & Sons
ISBN: 1118887441
Category : Technology & Engineering
Languages : en
Pages : 204
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Book Description
A comprehensive guide to formation control of multi-agent systems using rigid graph theory This book is the first to provide a comprehensive and unified treatment of the subject of graph rigidity-based formation control of multi-agent systems. Such systems are relevant to a variety of emerging engineering applications, including unmanned robotic vehicles and mobile sensor networks. Graph theory, and rigid graphs in particular, provides a natural tool for describing the multi-agent formation shape as well as the inter-agent sensing, communication, and control topology. Beginning with an introduction to rigid graph theory, the contents of the book are organized by the agent dynamic model (single integrator, double integrator, and mechanical dynamics) and by the type of formation problem (formation acquisition, formation manoeuvring, and target interception). The book presents the material in ascending level of difficulty and in a self-contained manner; thus, facilitating reader understanding. Key features: Uses the concept of graph rigidity as the basis for describing the multi-agent formation geometry and solving formation control problems. Considers different agent models and formation control problems. Control designs throughout the book progressively build upon each other. Provides a primer on rigid graph theory. Combines theory, computer simulations, and experimental results. Formation Control of Multi-Agent Systems: A Graph Rigidity Approach is targeted at researchers and graduate students in the areas of control systems and robotics. Prerequisite knowledge includes linear algebra, matrix theory, control systems, and nonlinear systems.
