Distributed cooperative control : emerging applications / Yi Guo.

Format:

Book

Author/Creator:

Guo, Yi, 1971- author.

Language:

English

Subjects (All):

Automatic control.

Distributed parameter systems.

Physical Description:

1 online resource (245 pages)

Edition:

1st ed.

Place of Publication:

Hoboken, New Jersey : Wiley, 2017.

Summary:

Examines new cooperative control methodologies tailored to real-world applications in various domains such as in communication systems, physics systems, and multi-robotic systems * Provides the fundamental mechanism for solving collective behaviors in naturally-occurring systems as well as cooperative behaviors in man-made systems * Discusses cooperative control methodologies using real-world applications, including semi-conductor laser arrays, mobile sensor networks, and multi-robotic systems * Includes results from the research group at the Stevens Institute of Technology to show how advanced control technologies can impact challenging issues, such as high energy systems and oil spill monitoring

Contents:

Intro

Title Page

Copyright Page

Contents

Preface

About the Companion Website

Chapter 1 Introduction

1.1 Motivation and Challenges

1.1.1 From Collective Behaviors to Cooperative Control

1.1.2 Challenges

1.2 Background and Related Work

1.2.1 Networked Communication Systems

1.2.2 Cooperating Autonomous Mobile Robots

1.2.3 Nanoscale Systems and Laser Synchronization

1.3 Overview of the Book

References

Chapter 2 Distributed Consensus and Consensus Filters

2.1 Introduction and Literature Review

2.2 Preliminaries on Graph Theory

2.3 Distributed Consensus

2.3.1 The Continuous-Time Consensus Protocol

2.3.2 The Discrete-Time Consensus Protocol

2.4 Distributed Consensus Filter

2.4.1 PI Average Consensus Filter: Continuous-Time

2.4.2 PI Average Consensus Filter: Discrete-Time

Part I Distributed Consensus for Networked Communication Systems

Chapter 3 Average Consensus for Quantized Communication

3.1 Introduction

3.2 Problem Formulation

3.2.1 Average Consensus Protocol with Quantization

3.2.2 Problem Statement

3.3 Weighting Matrix Design for Average Consensus with Quantization

3.3.1 State Transformation

3.3.2 Design for Fixed and Directed Graphs

3.3.3 Design for Switching and Directed Graphs

3.4 Simulations and Performance Evaluation

3.4.1 Fixed and Directed Graphs

3.4.2 Switching and Directed Graphs

3.4.3 Fixed and Directed Graphs

3.4.4 Performance Comparison

3.5 Conclusion

Notes

Chapter 4 Weighted Average Consensus for Cooperative Spectrum Sensing

4.1 Introduction

4.2 Problem Statement

4.3 Cooperative Spectrum Sensing UsingWeighted Average Consensus

4.3.1 Weighted Average Consensus Algorithm

4.3.2 Fusion Convergence Performance in Terms of Detection Probability.

4.3.3 OptimalWeight Design under AWGN Measurement Channels

4.3.4 HeuristicWeight Design under Rayleigh Fading Channels

4.4 Convergence Analysis

4.4.1 Fixed Communication Channels

4.4.2 Dynamic Communication Channels

4.4.3 Convergence Rate with Random Link Failures

4.5 Simulations and Performance Evaluation

4.5.1 SU Network Setup

4.5.2 Convergence ofWeighted Average Consensus

4.5.3 Metrics and Methodologies

4.5.4 Performance Evaluation

4.6 Conclusion

Chapter 5 Distributed Consensus Filter for Radio Environment Mapping

5.1 Introduction

5.2 Problem Formulation

5.2.1 System Configuration and Distributed Sensor Placement

5.2.2 The Model and Problem Statement

5.3 Distributed REM Tracking

5.3.1 SystemMatrix Estimation

5.3.2 Kalman-EM Filter

5.3.3 PI Consensus Filter for Distributed Estimation and Tracking

5.4 Communication and Computation Complexity

5.4.1 Communication Complexity

5.4.2 Computation Complexity

5.5 Simulations and Performance Evaluation

5.5.1 Dynamic Radio Transmitter

5.5.2 Stationary Radio Transmitter

5.5.3 Comparison with Existing Centralized Methods

5.6 Conclusion

Part II Distributed Cooperative Control for Multirobotic Systems

Chapter 6 Distributed Source Seeking by Cooperative Robots

6.1 Introduction

6.2 Problem Formulation

6.3 Source Seeking with All-to-All Communications

6.3.1 Cooperative Estimation of Gradients

6.3.2 Control Law Design

6.4 Distributed Source Seeking with Limited Communications

6.5 Simulations

6.6 Experimental Validation

6.6.1 The Robot

6.6.2 The Experiment Setup

6.6.3 Experimental Results

6.7 Conclusion

Chapter 7 Distributed Plume Front Tracking by Cooperative Robots

7.1 Introduction

7.2 Problem Statement.

7.3 Plume Front Estimation and Tracking by Single Robot

7.3.1 State Equation of the Plume Front Dynamics

7.3.2 Measurement Equation and Observer Design

7.3.3 Estimation-Based Tracking Control

7.3.4 Convergence Analysis

7.4 Multirobot Cooperative Tracking of Plume Front

7.4.1 Boundary Robots

7.4.2 Follower Robots

7.4.3 Convergence Analysis

7.5 Simulations

7.5.1 Simulation Environment

7.5.2 Single-Robot Plume Front Tracking

7.5.3 Multirobot Cooperative Plume Front Tracking

7.6 Conclusion

Part III Distributed Cooperative Control for Multiagent Physics Systems

Chapter 8 Friction Control of Nano-particle Array

8.1 Introduction

8.2 The Frenkel-KontorovaModel

8.3 Open-Loop Stability Analysis

8.3.1 Linear Particle Interactions

8.3.2 Nonlinear Particle Interactions

8.4 Control Problem Formulation

8.5 Tracking Control Design

8.5.1 Tracking Control of the Average System

8.5.2 Stability of Single Particles in the Closed-Loop System

8.6 Simulation Results

8.7 Conclusion

Chapter 9 Synchronizing Coupled Semiconductor Lasers

9.1 Introduction

9.2 The Model of Coupled Semiconductor Lasers

9.3 Stability Properties of Decoupled Semiconductor Laser

9.4 Synchronization of Coupled Semiconductor Lasers

9.5 Simulation Examples

9.6 Conclusion

Appendix A Notation and Symbols

Appendix B Kronecker Product and Properties

Appendix C Quantization Schemes

Appendix D Finite L2 Gain

Appendix E Radio Signal Propagation Model

Index

Supplemental Images.

Notes:

Includes bibliographical references at the end of each chapters and index.

Description based on online resource; title from PDF title page (ebrary, viewed March 20, 2017).

ISBN:

9781119216124

1119216125

9781119216100

1119216109

9781119216131

1119216133

OCLC:

979169533