Cooperative Control of Multi-Agent Systems: A Consensus Region Approach, 1st Edition (Paperback) book cover

Cooperative Control of Multi-Agent Systems

A Consensus Region Approach, 1st Edition

By Zhongkui Li, Zhisheng Duan

CRC Press

262 pages | 50 B/W Illus.

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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.

Reviews

"… 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

Table of Contents

Preface

Introduction and Mathematical Background

Introduction to Cooperative Control of Multi-Agent Systems

Consensus

Formation Control

Flocking

Overview of This Monograph

Mathematical Preliminaries

Notations and Definitions

Basic Algebraic Graph Theory

Stability Theory and Technical Tools

Notes

Consensus Control of Linear Multi-Agent Systems: Continuous-Time Case

Problem Statement

State Feedback Consensus Protocols

Consensus Condition and Consensus Value

Consensus Region

Consensus Protocol Design

Observer-Type Consensus Protocols

Full-Order Observer-Type Protocol I

Full-Order Observer-Type Protocol II

Reduced-Order Observer-Based Protocol

Extensions to Switching Communication Graphs

Extension to Formation Control

Notes

Consensus Control of Linear Multi-Agent Systems: Discrete-Time Case

Problem Statement

State Feedback Consensus Protocols

Consensus Condition

Discrete-Time Consensus Region

Consensus Protocol Design

Observer-Type Consensus Protocols

Full-Order Observer-Type Protocol I

Full-Order Observer-Type Protocol II

Reduced-Order Observer-Based Protocol

Application to Formation Control

Discussions

Notes

H∞ and H2 Consensus Control of Linear Multi-Agent Systems

H∞ Consensus on Undirected Graphs

Problem Formulation and Consensus Condition

H∞ Consensus Region

H∞ Performance Limit and Protocol Synthesis

H2 Consensus on Undirected Graphs

H∞ Consensus on Directed Graphs

Leader-Follower Graphs

Strongly Connected Directed Graphs

Notes

Consensus Control of Linear Multi-agent Systems Using Distributed Adaptive Protocols

Distributed Relative-State Adaptive Consensus Protocols

Consensus Using Edge-Based Adaptive Protocols

Consensus Using Node-Based Adaptive Protocols

Extensions to Switching Communication Graphs

Distributed Relative-Output Adaptive Consensus Protocols

Consensus Using Edge-Based Adaptive Protocols

Consensus Using Node-Based Adaptive Protocols

Simulation Examples

Extensions to Leader-Follower Graphs

Robust Redesign of Distributed Adaptive Protocols

Robust Edge-Based Adaptive Protocols

Robust Node-Based Adaptive Protocols

Simulation Examples

Distributed Adaptive Protocols for Graphs with Directed Spanning Trees

Distributed Adaptive Consensus Protocols

Robust Redesign in the Presence of External Disturbances

Notes

Distributed Tracking of Linear Multi-Agent Systems with a Leader of Possibly Nonzero Input

Problem Statement

Distributed Discontinuous Tracking Controllers

Discontinuous Static Controllers

Discontinuous Adaptive Controllers

Distributed Continuous Tracking Controllers

Continuous Static Controllers

Adaptive Continuous Controllers

Distributed Output-Feedback Controllers

Simulation Examples

Notes

Containment Control of Linear Multi-Agent Systems with Multiple Leaders

Containment of Continuous-Time Multi-Agent Systems with Leaders of Zero Inputs

Dynamic Containment Controllers

Static Containment Controllers

Containment Control of Discrete-Time Multi-Agent Systems with Leaders of Zero Inputs

Dynamic Containment Controllers

Static Containment Controllers

Simulation Examples

Containment of Continuous-Time Multi-Agent Systems with Leaders of Nonzero Inputs

Distributed Continuous Static Controllers

Adaptive Continuous Containment Controllers

Simulation Examples

Notes

Distributed Robust Cooperative Control for Multi-Agent Systems with Heterogeneous Matching Uncertainties

Distributed Robust Leaderless Consensus

Distributed Static Consensus Protocols

Distributed Adaptive Consensus Protocols

Distributed Robust Consensus with a Leader of Nonzero Control Input

Robustness with Respect to Bounded Non-Matching Disturbances

Distributed Robust Containment Control with Multiple Leaders

Notes

Global Consensus of Multi-Agent Systems with Lipschitz Nonlinear Dynamics

Global Consensus of Nominal Lipschitz Nonlinear Multi-Agent Systems

Global Consensus without Disturbances

Global H1 Consensus Subject to External Disturbances

Extensions to Leader-Follower Graphs

Simulation Example

Robust Consensus of Lipschitz Nonlinear Multi-Agent Systems with Matching Uncertainties

Distributed Static Consensus Protocols

Distributed Adaptive Consensus Protocols

Adaptive Protocols for the Case without Uncertainties

Simulation Examples

Notes

Bibliography

Index

About the Authors

Zhongkui Li holds a BS from the National University of Defense Technology, Changsha, China and a Ph.D from Peking University, Beijing, China. He is currently an assistant professor in the Department of Mechanics and Engineering Science, College of Engineering, Peking University, China. Previously he was a postdoctoral research associate at the Beijing Institute of Technology, and held visiting positions at City University of Hong Kong, China and Nanyang Technological University, Singapore. He was the recipient of the Natural Science Award (First Prize) from the Ministry of Education of China in 2011 and the National Excellent Doctoral Thesis Award of China in 2012. His article (coauthored with Z.S. Duan and G.R. Chen) received the 2013 IET Control Theory & Applications Premium Award (Best Paper).

Zhisheng Duan holds an MS from Inner Mongolia University, Hohhot, China, and a Ph.D from Peking University, Beijing, China. He is currently a Cheung Kong scholar at Peking University, and is with the Department of Mechanics and Engineering Science, College of Engineering. Previously he was a postdoctor with Peking University; a visiting professor with Monash University, Melbourne, Australia; and a visiting professor with City University of Hong Kong, China. He has been the recipient of the Chinese Control Conference Guan Zhao-Zhi Award and the Natural Science Award (First Prize) from the Ministry of Education of China. He obtained the outstanding National Natural Science Foundation in China, and was selected into the Program for New Century Excellent Talents in Universities by the Ministry of Education of China. He has published over 100 papers in, and been an associate editor and advisory board member of, numerous international referred journals and conferences.

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Subject Categories

BISAC Subject Codes/Headings:
COM043000
COMPUTERS / Networking / General
TEC007000
TECHNOLOGY & ENGINEERING / Electrical
TEC008000
TECHNOLOGY & ENGINEERING / Electronics / General