Cooperative Control Design
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Cooperative Control Design
Author: He Bai
language: en
Publisher: Springer Science & Business Media
Release Date: 2011-06-03
Cooperative Control Design: A Systematic, Passivity-Based Approach discusses multi-agent coordination problems, including formation control, attitude coordination, and synchronization. The goal of the book is to introduce passivity as a design tool for multi-agent systems, to provide exemplary work using this tool, and to illustrate its advantages in designing robust cooperative control algorithms. The discussion begins with an introduction to passivity and demonstrates how passivity can be used as a design tool for motion coordination. Followed by the case of adaptive redesigns for reference velocity recovery while describing a basic design, a modified design and the parameter convergence problem. Formation control is presented as it relates to relative distance control and relative position control. The coverage is concluded with a comprehensive discussion of agreement and the synchronization problem with an example using attitude coordination.
Cooperative Control of Multi-Agent Systems
Author: Frank L. Lewis
language: en
Publisher: Springer Science & Business Media
Release Date: 2013-12-31
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.
On Distributed and Cooperative Control Design for Networks of Dynamical Systems
Author: Georg Seyboth
language: en
Publisher: Logos Verlag Berlin GmbH
Release Date: 2016-06-17
This thesis contributes to the development of a cooperative control theory for homogeneous and heterogeneous multi-agent systems consisting of identical and non-identical dynamical agents, respectively. The goal is to explain fundamental effects of non-identical agent dynamics on the behavior of a distributed system and, primarily, to develop suitable control design methods for a wide range of multi-agent coordination problems. Output synchronization problems as well as cooperative disturbance rejection and reference tracking problems in multi-agent systems are investigated. Suitable controller design methods for networks consisting of identical or non-identical linear time-invariant systems, linear parameter-varying systems, and selected classes of nonlinear systems are developed. These controller design methods provide a solution to a wide variety of distributed coordination and cooperative control scenarios.