Cooperative Control of Multi-Agent Systems: A Consensus Region Approach (Hardcover)

Zhongkui Li, Zhisheng Duan

  • 出版商: CRC
  • 出版日期: 2014-10-28
  • 售價: $8,150
  • 貴賓價: 9.5$7,743
  • 語言: 英文
  • 頁數: 262
  • 裝訂: Hardcover
  • ISBN: 1466569948
  • ISBN-13: 9781466569942
  • 海外代購書籍(需單獨結帳)

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商品描述

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.

商品描述(中文翻譯)

分散式控制器設計通常是一項具有挑戰性的任務,特別是對於具有複雜動態的多智能體系統,因為智能體動態的相互連結效應、智能體之間的互動圖以及合作控制法則的影響。《多智能體系統的合作控制:共識區域方法》提供了一個系統化的框架,用於設計具有一般線性智能體動態、帶有不確定性的線性智能體動態以及Lipschitz非線性智能體動態的多智能體系統的分散式控制器。

本專著首先介紹合作控制和圖論,然後:

- 探討連續時間和離散時間線性多智能體系統的共識控制問題
- 研究受外部擾動影響的線性多智能體系統的H∞和H2共識問題
- 為連續時間線性多智能體系統設計分散式自適應共識協議
- 考慮具有非零控制輸入的領導者的線性多智能體系統的分散式追蹤控制問題
- 檢視多領導者情況下的分散式包含控制問題
- 涵蓋受異質匹配不確定性影響的線性名義智能體動態的多智能體系統的穩健合作控制問題
- 討論Lipschitz非線性多智能體系統的全局共識問題

《多智能體系統的合作控制:共識區域方法》提供了一種新穎的方法,用於設計具有複雜動態的多智能體系統的分散式合作協議。所提出的共識區域將合作協議的反饋增益矩陣設計與通信圖解耦,並作為協議對通信圖變化的穩健性度量。通過利用這一解耦特性,提出了可以完全分散方式設計和實施的自適應合作協議。