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Full Description
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.
Contents
Introduction and Mathematical Background. Consensus Control of Linear Multi-Agent Systems: Continuous-Time Case. Consensus Control of Linear Multi-Agent Systems: Discrete-Time Case. H∞ and H2 Consensus Control of Linear Multi-Agent Systems. Consensus Control of Linear Multi-Agent Systems Using Distributed Adaptive Protocols. Distributed Tracking of Linear Multi-Agent Systems with a Leader of Possibly Nonzero Input. Containment Control of Linear Multi-Agent Systems with Multiple Leaders. Distributed Robust Cooperative Control for Multi-Agent Systems with Heterogeneous Matching Uncertainties. Global Consensus of Multi-Agent Systems with Lipchitz Non-Linear Dynamics. Bibliography.
