Distributed Adaptive Consensus Control of Uncertain Multi-Agent Systems
Distributed Adaptive Consensus Control of Uncertain Multi-Agent Systems

Author: Wei Wang

Publisher: CRC Press

Published: 2024-08-15

Total Pages: 219

ISBN-13: 1040093795

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Multi-agent systems are special networked systems full of research interest and practical sense, which are abundant in real life, ranging from mobile robot networks, intelligent transportation management, to multiple spacecraft, surveillance and monitoring. Consensus control is one of the most typical and hot research issues for multi-agent systems. Distributed Adaptive Consensus Control of Uncertain Multi-agent Systems provides innovative technologies to design and analyze distributed adaptive consensus for multi-agent systems with model uncertainties. Based on the basic graph theory and adaptive backstepping control, this monograph: · Describes the state of the art on distributed adaptive control, finite-time consensus control and event-triggered consensus control · Studies distributed adaptive consensus under directed communication graph condition: the methods with linearly parametric reference, hierarchical decomposition, and design of auxiliary filers · Explores adaptive finite-time consensus for uncertain nonlinear systems · Considers distributed adaptive consensus with event-triggered communication via state feedback and output feedback · Investigates distributed adaptive formation control of nonholonomic mobile robots with experimental verification · Provides distributed adaptive attitude synchronization control schemes for multiple spacecraft with event-triggered communication Distributed Adaptive Consensus Control of Uncertain Multi-agent Systems can help engineering students and professionals to efficiently learn distributed adaptive control design tool for handling uncertain multi-agent systems with directed communication graph, guaranteeing finite-time convergence and saving communication resources.

Distributed Adaptive Consensus Control of Uncertain Multi-Agent Systems
Distributed Adaptive Consensus Control of Uncertain Multi-Agent Systems

Author: Wei Wang

Publisher: CRC Press

Published: 2024-08-15

Total Pages: 241

ISBN-13: 1040093833

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Multi-agent systems are special networked systems full of research interest and practical sense, which are abundant in real life, ranging from mobile robot networks, intelligent transportation management, to multiple spacecraft, surveillance and monitoring. Consensus control is one of the most typical and hot research issues for multi-agent systems. Distributed Adaptive Consensus Control of Uncertain Multi-agent Systems provides innovative technologies to design and analyze distributed adaptive consensus for multi-agent systems with model uncertainties. Based on the basic graph theory and adaptive backstepping control, this monograph: · Describes the state of the art on distributed adaptive control, finite-time consensus control and event-triggered consensus control · Studies distributed adaptive consensus under directed communication graph condition: the methods with linearly parametric reference, hierarchical decomposition, and design of auxiliary filers · Explores adaptive finite-time consensus for uncertain nonlinear systems · Considers distributed adaptive consensus with event-triggered communication via state feedback and output feedback · Investigates distributed adaptive formation control of nonholonomic mobile robots with experimental verification · Provides distributed adaptive attitude synchronization control schemes for multiple spacecraft with event-triggered communication Distributed Adaptive Consensus Control of Uncertain Multi-agent Systems can help engineering students and professionals to efficiently learn distributed adaptive control design tool for handling uncertain multi-agent systems with directed communication graph, guaranteeing finite-time convergence and saving communication resources.

Cooperative Control of Multi-Agent Systems
Cooperative Control of Multi-Agent Systems

Author: Zhongkui Li

Publisher: CRC Press

Published: 2017-12-19

Total Pages: 262

ISBN-13: 1466569972

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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
Cooperative Control of Multi-Agent Systems

Author: Frank L. Lewis

Publisher: Springer Science & Business Media

Published: 2013-12-31

Total Pages: 315

ISBN-13: 1447155742

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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.

Distributed Consensus in Multi-vehicle Cooperative Control
Distributed Consensus in Multi-vehicle Cooperative Control

Author: Wei Ren

Publisher: Springer Science & Business Media

Published: 2007-10-27

Total Pages: 315

ISBN-13: 1848000154

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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.

Robot Manipulator Control
Robot Manipulator Control

Author: Frank L. Lewis

Publisher: CRC Press

Published: 2003-12-12

Total Pages: 646

ISBN-13: 9780203026953

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Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms and acknowledges how robotic device performance hinges upon a well-developed control system. Containing over 750 essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers. It also addresses procedures and issues in computed-torque, robust, adaptive, neural network, and force control. New chapters relay practical information on commercial robot manipulators and devices and cutting-edge methods in neural network control.

Distributed Cooperative Control and Communication for Multi-agent Systems
Distributed Cooperative Control and Communication for Multi-agent Systems

Author: Dong Yue

Publisher: Springer Nature

Published: 2021-02-15

Total Pages: 196

ISBN-13: 9813367180

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This book investigates distributed cooperative control and communication of MASs including linear systems, nonlinear systems and multiple rigid body systems. The model-based and data-driven control method are employed to design the (optimal) cooperative control protocol. The approaches of this book consist of model-based and data-driven control such as predictive control, event-triggered control, optimal control, adaptive dynamic programming, etc. From this book, readers can learn about distributed cooperative control methods, data-driven control, finite-time stability analysis, cooperative attitude control of multiple rigid bodies. Some fundamental knowledge prepared to read this book is finite-time stability theory, event-triggered sampling mechanism, adaptive dynamic programming and optimal control.