Cooperative Control of Multi-Agent Systems

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 Hâž 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. . Language: English