Cooperative control of multi-agent systems : an optimal and robust perspective / edited bu Quan Min Zhu.

Format:

Book

Contributor:

Zhu, Quan Min.

Series:

Emerging methodologies and applications in modelling, identification and control.

Emerging methodologies and applications in modelling, identification and control

Language:

English

Subjects (All):

Multiagent systems.

Physical Description:

1 online resource

Place of Publication:

London : Academic Press, 2020.

Summary:

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.

Contents:

Front Cover

Cooperative Control of Multi-Agent Systems

Copyright

Contents

About the authors

Preface

Acknowledgments

Part I About cooperative control

1 Introduction

1.1 Background

1.1.1 Motivations

1.1.2 Control architectures and strategies

1.1.3 Related applications

1.2 Overview of related works

1.2.1 Consensus control

1.2.1.1 Basic concept

1.2.1.2 Optimal cooperative control

1.2.1.3 Robust cooperative control

1.2.2 Formation control

1.2.3 Other related research

1.2.4 Future research topics

1.3 Objectives of this book

1.4 Book outline

2 Preliminaries

2.1 Matrix theory

2.2 Stability theory

2.3 Basic algebraic graph theory

2.3.1 Basic de nitions

2.3.2 Graph matrices

2.3.3 Properties

2.4 Useful lemmas on inequalities

Part II Optimal cooperative control

3 Optimal consensus control of multiple integrator systems

3.1 Problem formulation

3.2 Optimal consensus control with obstacle avoidance for single-integrator case

3.2.1 Optimal consensus algorithm: single-integrator case

3.2.2 Numerical examples

3.2.2.1 Consensus without obstacles on the trajectories of agents

3.2.2.2 Consensus with multiple obstacles on the trajectories of agents

3.3 Optimal consensus control with obstacle avoidance for double-integrator case

3.3.1 Optimal consensus algorithm: double-integrator case

3.3.2 Numerical examples

3.3.2.1 Consensus without obstacles on the trajectories of the agents

3.3.2.2 Consensus with multiple obstacles on the trajectories of the agents

3.4 Conclusion remarks

4 Optimal cooperative tracking and ocking of multi-agent systems

4.1 Optimal rendezvous and cooperative tracking control with obstacle avoidance

4.1.1 Problem formulation

4.1.2 Optimal rendezvous algorithm with obstacle avoidance

4.1.3 Numerical examples

A. Rendezvous without obstacles on the trajectories of agents

B. Rendezvous with two obstacles on the trajectory of agents

4.1.4 Extension to cooperative tracking problem with obstacle avoidance

4.1.4.1 Cooperative tracking algorithm with obstacle avoidance

4.1.4.2 Numerical examples

A. Cooperative tracking of a reference with constant velocity

B. Cooperative tracking of a dynamic reference trajectory

4.2 Optimal ocking control design with obstacle avoidance

4.2.1 Problem formulation

4.2.2 Optimal ocking control algorithm design

4.2.3 Numerical examples

A. Flocking with velocity alignment and navigation

B. Flocking with velocity alignment, navigation, and cohesion

C. Flocking with velocity alignment, navigation, cohesion, and obstacle/ collision avoidance

4.3 Conclusion remarks

5 Optimal formation control of multiple UAVs

5.1 Problem formulation

5.2 Integrated optimal control approach to formation control problem

5.3 Numerical examples

5.3.1 Formation control without obstacles on the trajectories of UAVs

Notes:

OCLC-licensed vendor bibliographic record.

ISBN:

0-12-820445-1

OCLC:

1147257394