Cooperative control of multi-agent systems : an optimal and robust perspective /

Detalles Bibliográficos
Clasificación:Libro Electrónico
Otros Autores: Zhu, Quan Min
Formato: Electrónico eBook
Idioma:Inglés
Publicado: London : Academic Press, 2020.
Colección:Emerging methodologies and applications in modelling, identification and control.
Temas:
Multiagent systems.
Syst�emes multiagents (Intelligence artificielle)
Acceso en línea:Texto completo
Tabla de Contenidos:
  • Front Cover
  • Cooperative Control of Multi-Agent Systems
  • Copyright
  • Contents
  • About the authors
  • Preface
  • Acknowledgments
  • Part I About cooperative control
  • 1 Introduction
  • 1.1 Background
  • 1.1.1 Motivations
  • 1.1.2 Control architectures and strategies
  • 1.1.3 Related applications
  • 1.2 Overview of related works
  • 1.2.1 Consensus control
  • 1.2.1.1 Basic concept
  • 1.2.1.2 Optimal cooperative control
  • 1.2.1.3 Robust cooperative control
  • 1.2.2 Formation control
  • 1.2.3 Other related research
  • 1.2.4 Future research topics
  • 1.3 Objectives of this book
  • 1.4 Book outline
  • 2 Preliminaries
  • 2.1 Matrix theory
  • 2.2 Stability theory
  • 2.3 Basic algebraic graph theory
  • 2.3.1 Basic de nitions
  • 2.3.2 Graph matrices
  • 2.3.3 Properties
  • 2.4 Useful lemmas on inequalities
  • Part II Optimal cooperative control
  • 3 Optimal consensus control of multiple integrator systems
  • 3.1 Problem formulation
  • 3.2 Optimal consensus control with obstacle avoidance for single-integrator case
  • 3.2.1 Optimal consensus algorithm: single-integrator case
  • 3.2.2 Numerical examples
  • 3.2.2.1 Consensus without obstacles on the trajectories of agents
  • 3.2.2.2 Consensus with multiple obstacles on the trajectories of agents
  • 3.3 Optimal consensus control with obstacle avoidance for double-integrator case
  • 3.3.1 Optimal consensus algorithm: double-integrator case
  • 3.3.2 Numerical examples
  • 3.3.2.1 Consensus without obstacles on the trajectories of the agents
  • 3.3.2.2 Consensus with multiple obstacles on the trajectories of the agents
  • 3.4 Conclusion remarks
  • 4 Optimal cooperative tracking and ocking of multi-agent systems
  • 4.1 Optimal rendezvous and cooperative tracking control with obstacle avoidance
  • 4.1.1 Problem formulation
  • 4.1.2 Optimal rendezvous algorithm with obstacle avoidance
  • 4.1.3 Numerical examples
  • A. Rendezvous without obstacles on the trajectories of agents
  • B. Rendezvous with two obstacles on the trajectory of agents
  • 4.1.4 Extension to cooperative tracking problem with obstacle avoidance
  • 4.1.4.1 Cooperative tracking algorithm with obstacle avoidance
  • 4.1.4.2 Numerical examples
  • A. Cooperative tracking of a reference with constant velocity
  • B. Cooperative tracking of a dynamic reference trajectory
  • 4.2 Optimal ocking control design with obstacle avoidance
  • 4.2.1 Problem formulation
  • 4.2.2 Optimal ocking control algorithm design
  • 4.2.3 Numerical examples
  • A. Flocking with velocity alignment and navigation
  • B. Flocking with velocity alignment, navigation, and cohesion
  • C. Flocking with velocity alignment, navigation, cohesion, and obstacle/ collision avoidance
  • 4.3 Conclusion remarks
  • 5 Optimal formation control of multiple UAVs
  • 5.1 Problem formulation
  • 5.2 Integrated optimal control approach to formation control problem
  • 5.3 Numerical examples
  • 5.3.1 Formation control without obstacles on the trajectories of UAVs

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