Robust Cooperative Control Of Multi Agent Systems

This book presents a concise introduction to the latest advances in robust cooperative control design for multi-agent systems with input delay and external disturbances, especially from a prediction and observation perspective. The volume covers a wide range of applications, such as the trajectory tracking of quadrotors, formation flying of multiple unmanned aerial vehicles (UAVs) and fixed-time formation of ground vehicles. Robust cooperative control means that multi-agent systems are able to achieve specified control tasks while remaining robust in the face of both parametric and nonparametric model uncertainties. In addition, the authors cover a wide range of key issues in cooperative control, such as communication and input delays, parametric model uncertainties and external disturbances. Moving beyond the scope of existing works, a systematic prediction and observation approach to designing robust cooperative control laws is presented. About the Authors Chunyan Wang is an Associate Professor in the School of Aerospace Engineering at Beijing Institute of Technology, China. Zongyu Zuo is a full Professor with the School of Automation Science and Electrical Engineering, Beihang University, China. Jianan Wang is an Associate Professor in the School of Aerospace Engineering at Beijing Institute of Technology, China. Zhengtao Ding is a Professor in the Department of Electrical and Electronic Engineering at University of Manchester, U.K.

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

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.

A comprehensive review of the state of the art in the control of multi-agent systems theory and applications The superiority of multi-agent systems over single agents for the control of unmanned air, water and ground vehicles has been clearly demonstrated in a wide range of application areas. Their large-scale spatial distribution, robustness, high scalability and low cost enable multi-agent systems to achieve tasks that could not successfully be performed by even the most sophisticated single agent systems. Cooperative Control of Multi-Agent Systems: Theory and Applications provides a wide-ranging review of the latest developments in the cooperative control of multi-agent systems theory and applications. The applications described are mainly in the areas of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). Throughout, the authors link basic theory to multi-agent cooperative control practice — illustrated within the context of highly-realistic scenarios of high-level missions — without losing site of the mathematical background needed to provide performance guarantees under general working conditions. Many of the problems and solutions considered involve combinations of both types of vehicles. Topics explored include target assignment, target tracking, consensus, stochastic game theory-based framework, event-triggered control, topology design and identification, coordination under uncertainty and coverage control. Establishes a bridge between fundamental cooperative control theory and specific problems of interest in a wide range of applications areas Includes example applications from the fields of space exploration, radiation shielding, site clearance, tracking/classification, surveillance, search-and-rescue and more Features detailed presentations of specific algorithms and application frameworks with relevant commercial and military applications Provides a comprehensive look at the latest developments in this rapidly evolving field, while offering informed speculation on future directions for collective control systems The use of multi-agent system technologies in both everyday commercial use and national defense is certain to increase tremendously in the years ahead, making this book a valuable resource for researchers, engineers, and applied mathematicians working in systems and controls, as well as advanced undergraduates and graduate students interested in those areas.

The main focus of this book is a pair of cooperative control problems: consensus and cooperative output regulation. Its emphasis is on complex multi-agent systems characterized by strong nonlinearity, large uncertainty, heterogeneity, external disturbances and jointly connected switching communication topologies. The cooperative output regulation problem is a generalization of the classical output regulation problem to multi-agent systems and it offers a general framework for handling a variety of cooperative control problems such as consensus, formation, tracking and disturbance rejection. The book strikes a balance between rigorous mathematical proof and engineering practicality. Every design method is systematically presented together with illustrative examples and all the designs are validated by computer simulation. The methods presented are applied to several practical problems, among them the leader-following consensus problem of multiple Euler–Lagrange systems, attitude synchronization of multiple rigid-body systems, and power regulation of microgrids. The book gives a detailed exposition of two approaches to the design of distributed control laws for complex multi-agent systems—the distributed-observer and distributed-internal-model approaches. Mastering both will enhance a reader’s ability to deal with a variety of complex real-world problems. Cooperative Control of Multi-agent Systems can be used as a textbook for graduate students in engineering, sciences, and mathematics, and can also serve as a reference book for practitioners and theorists in both industry and academia. Some knowledge of the fundamentals of linear algebra, calculus, and linear systems are needed to gain maximum benefit from this book. Advances in Industrial Control reports and encourages the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.

Cooperative Control of Multi-Agent Systems extends optimal control and adaptive control design methods to multi-agent systems on communication graphs. It develops Riccati design techniques for general linear dynamics for cooperative state feedback design, cooperative observer design, and cooperative dynamic output feedback design. Both continuous-time and discrete-time dynamical multi-agent systems are treated. Optimal cooperative control is introduced and neural adaptive design techniques for multi-agent nonlinear systems with unknown dynamics, which are rarely treated in literature are developed. Results spanning systems with first-, second- and on up to general high-order nonlinear dynamics are presented. Each control methodology proposed is developed by rigorous proofs. All algorithms are justified by simulation examples. The text is self-contained and will serve as an excellent comprehensive source of information for researchers and graduate students working with multi-agent systems.

This book presents a concise introduction to the latest advances in robust cooperative control design for multi-agent systems with input delay and external disturbances, especially from a prediction and observation perspective. The volume covers a wide range of applications, such as the trajectory tracking of quadrotors, formation flying of multiple unmanned aerial vehicles (UAVs) and fixed-time formation of ground vehicles. Robust cooperative control means that multi-agent systems are able to achieve specified control tasks while remaining robust in the face of both parametric and nonparametric model uncertainties. In addition, the authors cover a wide range of key issues in cooperative control, such as communication and input delays, parametric model uncertainties and external disturbances. Moving beyond the scope of existing works, a systematic prediction and observation approach to designing robust cooperative control laws is presented. About the Authors Chunyan Wang is an Associate Professor in the School of Aerospace Engineering at Beijing Institute of Technology, China. Zongyu Zuo is a full Professor with the School of Automation Science and Electrical Engineering, Beihang University, China. Jianan Wang is an Associate Professor in the School of Aerospace Engineering at Beijing Institute of Technology, China. Zhengtao Ding is a Professor in the Department of Electrical and Electronic Engineering at University of Manchester, U.K.

The paradigm of ‘multi-agent’ cooperative control is the challenge frontier for new control system application domains, and as a research area it has experienced a considerable increase in activity in recent years. This volume, the result of a UCLA collaborative project with Caltech, Cornell and MIT, presents cutting edge results in terms of the “dimensions” of cooperative control from leading researchers worldwide. This dimensional decomposition allows the reader to assess the multi-faceted landscape of cooperative control. Cooperative Control of Distributed Multi-Agent Systems is organized into four main themes, or dimensions, of cooperative control: distributed control and computation, adversarial interactions, uncertain evolution and complexity management. The military application of autonomous vehicles systems or multiple unmanned vehicles is primarily targeted; however much of the material is relevant to a broader range of multi-agent systems including cooperative robotics, distributed computing, sensor networks and data network congestion control. Cooperative Control of Distributed Multi-Agent Systems offers the reader an organized presentation of a variety of recent research advances, supporting software and experimental data on the resolution of the cooperative control problem. It will appeal to senior academics, researchers and graduate students as well as engineers working in the areas of cooperative systems, control and optimization.