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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:
<UL> <LI>Explores the consensus control problem for continuous-time and discrete-time linear multi-agent systems</LI> <LI>Studies the H∞ and H2 consensus problems for linear multi-agent systems subject to external disturbances</LI> <LI>Designs distributed adaptive consensus protocols for continuous-time linear multi-agent systems </LI> <LI>Considers the distributed tracking control problem for linear multi-agent systems with a leader of nonzero control input</LI> <LI>Examines the distributed containment control problem for the case with multiple leaders</LI> <LI>Covers the robust cooperative control problem for multi-agent systems with linear nominal agent dynamics subject to heterogeneous matching uncertainties</LI> <LI>Discusses the global consensus problem for Lipschitz nonlinear multi-agent systems</LI></UL>
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.
bound: 262 pages
publisher: CRC Press; 1 edition (March 31, 2017)
isbn: 1138073628, 978-1138073623,
weight: 1.1 pounds