Cooperative Control of Multi-Agent Systems: A Consensus Region Approach

ISBN-13: 9781138073623 / Angielski / Miękka / 2017 / 262 str.

Zhongkui Li;Zhisheng Duan

Opis

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.

Recenzje

"... offer[s] a systematic framework for designing distributed controllers for multi-agent systems having linear agent dynamics. ... This monograph is certainly for a specialist in multi-agent systems. It will be useful to researchers and to advanced course control engineers where multi-agent systems are covered. It’s useful as a reference text and it has a good bibliography."
—Control Technology Consortium (ACTC) E-News, May 2015 Edition

Spis treści

Introduction and Mathematical Background. Consensus Control of Linear Multi-Agent Systems: Continuous-Time Case. Consensus Control of Linear Multi-Agent Systems: Discrete-Time Case. H∞ and H₂ Consensus Control of Linear Multi-Agent Systems. Consensus Control of Linear Multi-Agent Systems Using Distributed Adaptive Protocols. Distributed Tracking of Linear Multi-Agent Systems with a Leader of Possibly Nonzero Input. Containment Control of Linear Multi-Agent Systems with Multiple Leaders. Distributed Robust Cooperative Control for Multi-Agent Systems with Heterogeneous Matching Uncertainties. Global Consensus of Multi-Agent Systems with Lipchitz Non-Linear Dynamics. Bibliography.