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 systemsStudies the H and H2 consensus problems for linear multi-agent systems subject to external disturbancesDesigns 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 inputExamines the distributed containment control problem for the case with multiple leadersCovers the robust cooperative control problem for multi-agent systems with linear nominal agent dynamics subject to heterogeneous matching uncertaintiesDiscusses 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.
Publisher: Taylor & Francis Ltd
Number of pages: 262
Weight: 481 g
Dimensions: 235 x 156 mm
"... offer[s] a systematic framework for designing distributed controllers for multi-agent systems having linear agent dynamics. ... This monograph is certainly for a specialist in multi-agent systems. It will be useful to researchers and to advanced course control engineers where multi-agent systems are covered. It's useful as a reference text and it has a good bibliography."
-Control Technology Consortium (ACTC) E-News, May 2015 Edition
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