Cooperative Control Design

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Cooperative Control Design

He Bai,Murat Arcak,John Wen
Cooperative Control Design Book PDF

Author : He Bai,Murat Arcak,John Wen
Publisher : Springer Science & Business Media
Page : 210 pages
File Size : 54,8 Mb
Release : 2011-06-03
Category : Technology & Engineering
ISBN : 9781461400141

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Cooperative Control Design by He Bai,Murat Arcak,John Wen Pdf

Cooperative Control Design: A Systematic, Passivity-Based Approach discusses multi-agent coordination problems, including formation control, attitude coordination, and synchronization. The goal of the book is to introduce passivity as a design tool for multi-agent systems, to provide exemplary work using this tool, and to illustrate its advantages in designing robust cooperative control algorithms. The discussion begins with an introduction to passivity and demonstrates how passivity can be used as a design tool for motion coordination. Followed by the case of adaptive redesigns for reference velocity recovery while describing a basic design, a modified design and the parameter convergence problem. Formation control is presented as it relates to relative distance control and relative position control. The coverage is concluded with a comprehensive discussion of agreement and the synchronization problem with an example using attitude coordination.

Cooperative Control of Multi-Agent Systems

Frank L. Lewis,Hongwei Zhang,Kristian Hengster-Movric,Abhijit Das
Cooperative Control of Multi Agent Systems Book PDF

Author : Frank L. Lewis,Hongwei Zhang,Kristian Hengster-Movric,Abhijit Das
Publisher : Springer Science & Business Media
Page : 307 pages
File Size : 49,5 Mb
Release : 2013-12-31
Category : Technology & Engineering
ISBN : 9781447155744

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Cooperative Control of Multi-Agent Systems by Frank L. Lewis,Hongwei Zhang,Kristian Hengster-Movric,Abhijit Das Pdf

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.

Cooperative Control of Dynamical Systems

Zhihua Qu
Cooperative Control of Dynamical Systems Book PDF

Author : Zhihua Qu
Publisher : Springer Science & Business Media
Page : 335 pages
File Size : 42,6 Mb
Release : 2009-02-07
Category : Technology & Engineering
ISBN : 9781848823259

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Cooperative Control of Dynamical Systems by Zhihua Qu Pdf

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.

Cooperative Control of Multi-Agent Systems

Jianan Wang,Chunyan Wang,Ming Xin,Zhengtao Ding,Jiayuan Shan
Cooperative Control of Multi Agent Systems Book PDF

Author : Jianan Wang,Chunyan Wang,Ming Xin,Zhengtao Ding,Jiayuan Shan
Publisher : Academic Press
Page : 260 pages
File Size : 42,9 Mb
Release : 2020-03-25
Category : Computers
ISBN : 9780128204450

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Cooperative Control of Multi-Agent Systems by Jianan Wang,Chunyan Wang,Ming Xin,Zhengtao Ding,Jiayuan Shan Pdf

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

Cooperative Control of Distributed Multi-Agent Systems

Jeff Shamma
Cooperative Control of Distributed Multi Agent Systems Book PDF

Author : Jeff Shamma
Publisher : John Wiley & Sons
Page : 452 pages
File Size : 49,9 Mb
Release : 2008-02-28
Category : Science
ISBN : 0470724196

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Cooperative Control of Distributed Multi-Agent Systems by Jeff Shamma Pdf

The paradigm of ‘multi-agent’ cooperative control is the challenge frontier for new control system application domains, and as a research area it has experienced a considerable increase in activity in recent years. This volume, the result of a UCLA collaborative project with Caltech, Cornell and MIT, presents cutting edge results in terms of the “dimensions” of cooperative control from leading researchers worldwide. This dimensional decomposition allows the reader to assess the multi-faceted landscape of cooperative control. Cooperative Control of Distributed Multi-Agent Systems is organized into four main themes, or dimensions, of cooperative control: distributed control and computation, adversarial interactions, uncertain evolution and complexity management. The military application of autonomous vehicles systems or multiple unmanned vehicles is primarily targeted; however much of the material is relevant to a broader range of multi-agent systems including cooperative robotics, distributed computing, sensor networks and data network congestion control. Cooperative Control of Distributed Multi-Agent Systems offers the reader an organized presentation of a variety of recent research advances, supporting software and experimental data on the resolution of the cooperative control problem. It will appeal to senior academics, researchers and graduate students as well as engineers working in the areas of cooperative systems, control and optimization.

Cooperative Control of Multi-Agent Systems

Zhongkui Li,Zhisheng Duan
Cooperative Control of Multi Agent Systems Book PDF

Author : Zhongkui Li,Zhisheng Duan
Publisher : CRC Press
Page : 262 pages
File Size : 40,8 Mb
Release : 2017-12-19
Category : Computers
ISBN : 9781466569973

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Cooperative Control of Multi-Agent Systems by Zhongkui Li,Zhisheng Duan Pdf

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: Models, Applications and Algorithms

Sergiy Butenko,Robert Murphey,Panos M. Pardalos
Cooperative Control Models Applications and Algorithms Book PDF

Author : Sergiy Butenko,Robert Murphey,Panos M. Pardalos
Publisher : Springer Science & Business Media
Page : 365 pages
File Size : 47,9 Mb
Release : 2013-04-17
Category : Mathematics
ISBN : 9781475737585

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Cooperative Control: Models, Applications and Algorithms by Sergiy Butenko,Robert Murphey,Panos M. Pardalos Pdf

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.

On Distributed and Cooperative Control Design for Networks of Dynamical Systems

Georg Seyboth
On Distributed and Cooperative Control Design for Networks of Dynamical Systems Book PDF

Author : Georg Seyboth
Publisher : Logos Verlag Berlin GmbH
Page : 185 pages
File Size : 45,6 Mb
Release : 2016-06-17
Category : Technology & Engineering
ISBN : 9783832542597

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On Distributed and Cooperative Control Design for Networks of Dynamical Systems by Georg Seyboth Pdf

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.

Robust Cooperative Control of Multi-Agent Systems

Chunyan Wang,Zongyu Zuo,Jianan Wang,Zhengtao Ding
Robust Cooperative Control of Multi Agent Systems Book PDF

Author : Chunyan Wang,Zongyu Zuo,Jianan Wang,Zhengtao Ding
Publisher : CRC Press
Page : 230 pages
File Size : 40,9 Mb
Release : 2021-05-18
Category : Technology & Engineering
ISBN : 9781000376630

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Robust Cooperative Control of Multi-Agent Systems by Chunyan Wang,Zongyu Zuo,Jianan Wang,Zhengtao Ding Pdf

This book presents a concise introduction to the latest advances in robust cooperative control design for multi-agent systems with input delay and external disturbances, especially from a prediction and observation perspective. The volume covers a wide range of applications, such as the trajectory tracking of quadrotors, formation flying of multiple unmanned aerial vehicles (UAVs) and fixed-time formation of ground vehicles. Robust cooperative control means that multi-agent systems are able to achieve specified control tasks while remaining robust in the face of both parametric and nonparametric model uncertainties. In addition, the authors cover a wide range of key issues in cooperative control, such as communication and input delays, parametric model uncertainties and external disturbances. Moving beyond the scope of existing works, a systematic prediction and observation approach to designing robust cooperative control laws is presented. About the Authors Chunyan Wang is an Associate Professor in the School of Aerospace Engineering at Beijing Institute of Technology, China. Zongyu Zuo is a full Professor with the School of Automation Science and Electrical Engineering, Beihang University, China. Jianan Wang is an Associate Professor in the School of Aerospace Engineering at Beijing Institute of Technology, China. Zhengtao Ding is a Professor in the Department of Electrical and Electronic Engineering at University of Manchester, U.K.

Time-Critical Cooperative Control of Autonomous Air Vehicles

Isaac Kaminer,António M. Pascoal,Enric Xargay,Naira Hovakimyan,Venanzio Cichella,Vladimir Dobrokhodov
Time Critical Cooperative Control of Autonomous Air Vehicles Book PDF

Author : Isaac Kaminer,António M. Pascoal,Enric Xargay,Naira Hovakimyan,Venanzio Cichella,Vladimir Dobrokhodov
Publisher : Butterworth-Heinemann
Page : 270 pages
File Size : 50,6 Mb
Release : 2017-08-02
Category : Technology & Engineering
ISBN : 9780128099476

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Time-Critical Cooperative Control of Autonomous Air Vehicles by Isaac Kaminer,António M. Pascoal,Enric Xargay,Naira Hovakimyan,Venanzio Cichella,Vladimir Dobrokhodov Pdf

Time-Critical Cooperative Control of Autonomous Air Vehicles presents, in an easy-to-read style, the latest research conducted in the industry, while also introducing a set of novel ideas that illuminate a new approach to problem-solving. The book is virtually self-contained, giving the reader a complete, integrated presentation of the different concepts, mathematical tools, and control solutions needed to tackle and solve a number of problems concerning time-critical cooperative control of UAVs. By including case studies of fixed-wing and multirotor UAVs, the book effectively broadens the scope of application of the methodologies developed. This theoretical presentation is complemented with the results of flight tests with real UAVs, and is an ideal reference for researchers and practitioners from academia, research labs, commercial companies, government workers, and those in the international aerospace industry. Addresses important topics related to time-critical cooperative control of UAVs Describes solutions to the problems rooted in solid dynamical systems theory Applies the solutions developed to fixed-wing and multirotor UAVs Includes the results of field tests with both classes of UAVs

Distributed Cooperative Control and Communication for Multi-agent Systems

Dong Yue,Huaipin Zhang,Shengxuan Weng
Distributed Cooperative Control and Communication for Multi agent Systems Book PDF

Author : Dong Yue,Huaipin Zhang,Shengxuan Weng
Publisher : Springer Nature
Page : 196 pages
File Size : 54,6 Mb
Release : 2021-02-15
Category : Technology & Engineering
ISBN : 9789813367180

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Distributed Cooperative Control and Communication for Multi-agent Systems by Dong Yue,Huaipin Zhang,Shengxuan Weng Pdf

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.

Cooperative Control of Nonlinear Networked Systems

Yongduan Song,Yujuan Wang
Cooperative Control of Nonlinear Networked Systems Book PDF

Author : Yongduan Song,Yujuan Wang
Publisher : Springer
Page : 197 pages
File Size : 54,7 Mb
Release : 2019-01-01
Category : Technology & Engineering
ISBN : 9783030049720

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Cooperative Control of Nonlinear Networked Systems by Yongduan Song,Yujuan Wang Pdf

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.

Fixed-Time Cooperative Control of Multi-Agent Systems

Zongyu Zuo,Qing-Long Han,Boda Ning
Fixed Time Cooperative Control of Multi Agent Systems Book PDF

Author : Zongyu Zuo,Qing-Long Han,Boda Ning
Publisher : Springer
Page : 153 pages
File Size : 47,6 Mb
Release : 2019-05-28
Category : Technology & Engineering
ISBN : 9783030202798

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Fixed-Time Cooperative Control of Multi-Agent Systems by Zongyu Zuo,Qing-Long Han,Boda Ning Pdf

This monograph presents new theories and methods for fixed-time cooperative control of multi-agent systems. Fundamental concepts of fixed-time stability and stabilization are introduced with insightful understanding. This book presents solutions for several problems of fixed-time cooperative control using systematic design methods. The book compares fixed-time cooperative control with asymptotic cooperative control, demonstrating how the former can achieve better closed-loop performance and disturbance rejection properties. It also discusses the differences from finite-time control, and shows how fixed-time cooperative control can produce the faster rate of convergence and provide an explicit estimate of the settling time independent of initial conditions. This monograph presents multiple applications of fixed-time control schemes, including to distributed optimization of multi-agent systems, making it useful to students, researchers and engineers alike.

Distributed Consensus in Multi-vehicle Cooperative Control

Wei Ren,Randal Beard
Distributed Consensus in Multi vehicle Cooperative Control Book PDF

Author : Wei Ren,Randal Beard
Publisher : Springer Science & Business Media
Page : 315 pages
File Size : 44,6 Mb
Release : 2007-10-27
Category : Technology & Engineering
ISBN : 9781848000155

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Distributed Consensus in Multi-vehicle Cooperative Control by Wei Ren,Randal Beard Pdf

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.

Cooperative Game Theory Tools in Coalitional Control Networks

Francisco Javier Muros
Cooperative Game Theory Tools in Coalitional Control Networks Book PDF

Author : Francisco Javier Muros
Publisher : Springer
Page : 233 pages
File Size : 49,5 Mb
Release : 2019-04-24
Category : Technology & Engineering
ISBN : 9783030104894

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Cooperative Game Theory Tools in Coalitional Control Networks by Francisco Javier Muros Pdf

This book analyzes coalitional control schemes by incorporating concepts of cooperative game theory into a distributed control framework. It considers a networked architecture where the nodes are the agents and the edges are their communication links and either the agents or the links are established as the players of cooperative games related to the cost function of the coalitional schemes. The book discusses various cooperative game theory tools that are used to measure/analyze the players’ features, impose constraints on them, provide alternative methods of game computation, detect critical players inside the control scheme, and perform system partitioning of large-scale systems, such as the Barcelona drinking water network, which is described in a case study.