Performance and controller design for the synchronization of multi-agent systems
Performance and controller design for the synchronization of multi-agent systems

Author: Andrej Mosebach

Publisher: Logos Verlag Berlin GmbH

Published: 2017

Total Pages: 176

ISBN-13: 3832546235

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The analysis and design of control strategies for the synchronization of subsystems that are coupled over communication networks is the topic of this thesis. Typically, synchronization problems deal with the asymptotic behavior of networked multi-agent systems, where it is required that the states of the subsystems follow a common trajectory as the time approaches infinity. In contrast, this thesis focuses on strategies that do not only fulfill the requirement on asymptotic synchronization but also requirements on the transient behavior of networked multi-agent systems. Motivated by a growing number of applications where subsystems exchange their information by means of modern communication systems, the limits on the achievable performance of synchronization are studied for large teams of autonomous subsystems. In particular, control strategies that do not require any centralized coordination of the subsystems are developed.

Synchronization of Multi-Agent Systems in the Presence of Disturbances and Delays
Synchronization of Multi-Agent Systems in the Presence of Disturbances and Delays

Author: Ali Saberi

Publisher: Springer Nature

Published: 2022-01-18

Total Pages: 673

ISBN-13: 3030881482

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This monograph explores the synchronization of large-scale, multi-agent dynamical systems in the presence of disturbances, delays, and time-varying networks. Drawing upon their extensive work in this area, the authors provide a thorough treatment of agents with higher-order dynamics, different classes of models for agents, and the underlying networks representing the agents’ actions. The high technical level of their presentation and their rigorous mathematical approach make this a timely and valuable resource that will fill a gap in the existing literature. Divided into two sections, the first part of the book focuses on state synchronization of homogeneous multi-agent systems. The authors consider state synchronization by determining control strategies for both continuous- and discrete-time systems that achieve state synchronization under both full- and partial-state coupling. The chapters that follow examine multi-agent systems with both linear and nonlinear time-varying agents, input-delays for continuous- and discrete-time systems, and communication delays for continuous-time systems. The second part of the book is dedicated to regulated output synchronization of heterogeneous multi-agent systems with linear and nonlinear agents. Both sections of the book include performance considerations in H2- and H-infinity norms in the presence of external disturbances. Research on synchronization of multi-agent systems has been growing in popularity and is highly interdisciplinary, with applications to automobile systems, aerospace systems, multiple-satellite GPS and high-resolution satellite imagery, aircraft formations, highway traffic platooning, industrial process control with multiple processes, and more. Synchronization of Multi-Agent Systems in the Presence of Disturbances and Delays will therefore be of interest to upper-level graduate students, researchers, and engineers in industry working on interconnected dynamical systems.

Distributed Filtering, Control and Synchronization
Distributed Filtering, Control and Synchronization

Author: Fei Han

Publisher: Springer Nature

Published: 2022-03-24

Total Pages: 231

ISBN-13: 3030970752

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This book establishes a unified framework for dealing with typical engineering complications arising in modern, complex, large-scale networks such as parameter uncertainties, missing measurement and cyber-attack. Distributed Filtering, Control and Synchronization is a timely reflection on methods designed to handle a series of control and signal-processing issues in modern industrial engineering practice in areas like power grids and environmental monitoring. It exploits the latest techniques to handle the emerging mathematical and computational challenges arising from, among other things, the dynamic topologies of distributed systems and in the context of sensor networks and multi-agent systems. These techniques include recursive linear matrix inequalities, local-performance and stochastic analyses and techniques based on matrix theory. Readers interested in the theory and application of control and signal processing will find much to interest them in the new models and methods presented in this book. Academic researchers can find ideas for developing their own research, graduate and advanced undergraduate students will be made aware of the state of the art, and practicing engineers will find methods for addressing practical difficulties besetting modern networked systems

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.

Self-organizing control of networked systems
Self-organizing control of networked systems

Author: René Schuh

Publisher: Logos Verlag Berlin GmbH

Published: 2017-08-27

Total Pages: 444

ISBN-13: 3832545409

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This thesis presents a novel distributed control paradigm for networked control systems in which the local control units of the subsystems exchange information, whenever this is necessary to fulfill an overall control aim. The local control units act in a self-organized way, which means that they adapt their communication structure depending on the current situation of the subsystems based on locally available information only. A new controller structure is proposed. The local control units are divided into three components fulfilling universal tasks to generate a situation-dependent communication structure: The feedback unit performs a local feedback by using local measurements to fulfill basic performance requirements. The observation unit detects the current situation of the subsystem by evaluating locally available information. The decision unit decides about the transmission of information from the corresponding subsystem to other local control units. Two self-organizing controllers for physically interconnected systems in which the local control units adapt the communication among each other depending on the current disturbances are introduced. Furthermore, three novel self-organizing controllers for synchronizing multi-agent systems within leader-follower structures by adapting the communication structure to situations like set-point changes, disturbances and communication faults are proposed. The concepts are applied in order to control a water supply system and a robot formation.

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.

Control Theory of Digitally Networked Dynamic Systems
Control Theory of Digitally Networked Dynamic Systems

Author: Jan Lunze

Publisher: Springer Science & Business Media

Published: 2013-07-06

Total Pages: 405

ISBN-13: 3319011316

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The book gives an introduction to networked control systems and describes new modeling paradigms, analysis methods for event-driven, digitally networked systems, and design methods for distributed estimation and control. Networked model predictive control is developed as a means to tolerate time delays and packet loss brought about by the communication network. In event-based control the traditional periodic sampling is replaced by state-dependent triggering schemes. Novel methods for multi-agent systems ensure complete or clustered synchrony of agents with identical or with individual dynamics. The book includes numerous references to the most recent literature. Many methods are illustrated by numerical examples or experimental results.

Iterative Learning Control for Multi-agent Systems Coordination
Iterative Learning Control for Multi-agent Systems Coordination

Author: Shiping Yang

Publisher: John Wiley & Sons

Published: 2017-06-12

Total Pages: 246

ISBN-13: 1119189047

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A timely guide using iterative learning control (ILC) as a solution for multi-agent systems (MAS) challenges, showcasing recent advances and industrially relevant applications Explores the synergy between the important topics of iterative learning control (ILC) and multi-agent systems (MAS) Concisely summarizes recent advances and significant applications in ILC methods for power grids, sensor networks and control processes Covers basic theory, rigorous mathematics as well as engineering practice

Adaptive Dynamic Programming: Single and Multiple Controllers
Adaptive Dynamic Programming: Single and Multiple Controllers

Author: Ruizhuo Song

Publisher: Springer

Published: 2018-12-28

Total Pages: 278

ISBN-13: 9811317127

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This book presents a class of novel optimal control methods and games schemes based on adaptive dynamic programming techniques. For systems with one control input, the ADP-based optimal control is designed for different objectives, while for systems with multi-players, the optimal control inputs are proposed based on games. In order to verify the effectiveness of the proposed methods, the book analyzes the properties of the adaptive dynamic programming methods, including convergence of the iterative value functions and the stability of the system under the iterative control laws. Further, to substantiate the mathematical analysis, it presents various application examples, which provide reference to real-world practices.

On Distributed and Cooperative Control Design for Networks of Dynamical Systems
On Distributed and Cooperative Control Design for Networks of Dynamical Systems

Author: Georg Seyboth

Publisher: Logos Verlag Berlin GmbH

Published: 2016-06-17

Total Pages: 185

ISBN-13: 3832542590

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This thesis contributes to the development of a cooperative control theory for homogeneous and heterogeneous multi-agent systems consisting of identical and non-identical dynamical agents, respectively. The goal is to explain fundamental effects of non-identical agent dynamics on the behavior of a distributed system and, primarily, to develop suitable control design methods for a wide range of multi-agent coordination problems. Output synchronization problems as well as cooperative disturbance rejection and reference tracking problems in multi-agent systems are investigated. Suitable controller design methods for networks consisting of identical or non-identical linear time-invariant systems, linear parameter-varying systems, and selected classes of nonlinear systems are developed. These controller design methods provide a solution to a wide variety of distributed coordination and cooperative control scenarios.