Cooperative Control of Multi-agent Systems A Hybrid System Approach

✍ Scribed by Guanglei Zhao, Hailong Cui, Changchun Hua, Shuang Liu

• Publisher: Springer
• Year: 2024
• Tongue: English
• Leaves: 251
• Category: Library

✦ Synopsis

This book focuses on stability analysis and control design approaches for multi-agent systems under network-induced constraints. A hybrid system approach is introduced to address the cooperative control problem of networked multi-agent systems, and several important topics such as asynchronous sampled data cooperative control, hybrid event-triggered cooperative control, and reset-based cooperative control are studied under the hybrid system framework. The special feature of this book is that a hybrid systems approach is proposed for the cooperative control of multi-agent systems, which is beneficial for relaxing the conservativeness of stability analysis and network parameter computation. Interested readers can learn a novel approach to cooperative control of multi-agent systems, and this book can benefit researchers, engineers, and graduate students in the fields of multi-robot cooperation, unmanned aerial vehicle formation, control engineering, etc.

✦ Table of Contents

Preface
Contents
Abbreviations and Notations
Abbreviations
Notations
1 Introduction
1.1 Cooperative Control of MASs
1.2 Network-Induced Constraints
1.3 Hybrid Dynamic Systems
1.3.1 Modeling Framework
1.3.2 Why Using Hybrid System Approach
1.3.3 Control System Examples
1.4 Algebraic Graph Theory
References
Part I Asynchronous Sampled-Data Cooperative Control
2 Sampled-Data Consensus Control of MAS with Time Delay
2.1 Introduction
2.2 Networked MAS with Time Delay
2.3 Closed-Loop System Model
2.3.1 Dynamics of Leaderless MAS
2.3.2 Dynamics of Leader-Following MAS
2.3.3 Reformulation as Hybrid Model
2.4 Stability Analysis and Parameter Design
2.4.1 Lyapunov Function Design
2.4.2 Stability Analysis Under Hybrid Systems Framework
2.4.3 Parameter Design
2.5 Simulation Study
2.6 Conclusion
References
3 Sampled-Data Consensus Control of MAS with Packet Losses
3.1 Introduction
3.2 Networked MAS with Packet Losses
3.3 Hybrid Model of MAS
3.3.1 Dynamics of Leaderless MAS
3.3.2 Dynamics of Leader-Following MAS
3.3.3 Reformulation as Hybrid Model
3.4 Stability Analysis and Parameter Design
3.5 Further Results
3.6 Simulation Study
3.7 Conclusion
References
4 Sampled-Data Consensus Control of MAS Under Switching Network
4.1 Introduction
4.2 Networked MAS Under Static/Switching Network
4.3 Consensus Control Under Static Network
4.4 Consensus Control Under Switching Network
4.5 Simulation Study
4.6 Conclusion
References
5 Output Feedback Sampled-Data Control of MAS
5.1 Introduction
5.2 Networked MAS and Problem Formulation
5.3 Sampled-Data DOF Control
5.3.1 Hybrid Model
5.3.2 Stability Analysis
5.4 Extension to Leader-Following MAS
5.5 Simulation Study
5.6 Conclusion
References
Part II Event-Triggered Cooperative Control
6 Hybrid Event-Triggered Bipartite Consensus of MAS
6.1 Introduction
6.2 Networked MAS and Hybrid Dynamic ETM
6.3 Closed-Loop System Model
6.3.1 Dynamics of Leaderless MAS
6.3.2 Dynamics of Leader-Following MAS
6.3.3 A Unified Hybrid Model
6.4 Stability Analysis and ETM Design
6.5 Construction of Functions upper V left parenthesis delta right parenthesisV(δ) and upper W Subscript i Baseline left parenthesis kappa Subscript i Baseline comma e overbar Subscript i Baseline right parenthesisWi(κi,barei)
6.6 Application to Satellite Formation
6.7 Conclusion
References
7 Hybrid Event-Triggered Consensus of MAS with Time Delay
7.1 Introduction
7.2 Networked MAS and Problem Formulation
7.3 Reformulation of Closed-Loop MAS
7.4 Consensus Analysis and ETM Design Under Time Delay
7.5 Simulation Study
7.6 Conclusion
References
8 Hybrid Event-Triggered Consensus of MAS with Packet Losses
8.1 Introduction
8.2 Networked MAS and Problem Formulation
8.3 Hybrid Model of the MAS with Packet Losses
8.3.1 Leaderless MAS Model
8.3.2 Leader-Following MAS Model
8.3.3 Hybrid Model Construction of MAS
8.4 Consensus Analysis and ETM Design Under Packet Losses
8.4.1 ETM Design and Consensus Analysis
8.4.2 Construction of Storage Functions upper V left parenthesis delta right parenthesisV(δ), upper W Subscript i Baseline left parenthesis e Subscript a i Baseline right parenthesisWi(eai), upper W Subscript i Baseline left parenthesis e Subscript b i Baseline right parenthesisWi(ebi)
8.5 Simulation Study
8.5.1 Leaderless MAS
8.5.2 Leader-Following MAS
8.6 Conclusion
References
Part III Reset Control of Multi-agent Systems
9 Sampled-Data Based Reset Control of MAS
9.1 Introduction
9.2 System Model and Reset Control Law
9.3 Stability Analysis and Reset Control Design
9.3.1 Consensus Based on Continuous Communication
9.3.2 Consensus Based on Asynchronous Sampling
9.4 Simulation Study
9.5 Conclusion
References
10 Event-Based Reset Control of MAS
10.1 Introduction
10.2 System Model and Event-Based Reset Control Law
10.3 Hybrid Model Construction
10.4 Co-Design of Hybrid ETM and RM
10.5 Simulation Study
10.6 Conclusion
References
11 Reset Observer Based Event-Triggered Control of MAS
11.1 Introduction
11.2 System Model and Reset Observer
11.2.1 Reset Observer
11.2.2 Hybrid Dynamic ETM with Guaranteed Zeno-Freeness
11.3 Reformulation of MAS's Dynamics as Hybrid Form
11.4 Stability Analysis and ETM Design
11.4.1 Consensus Analysis and ETM Design
11.4.2 Further Discussions
11.5 Simulation Study
11.6 Conclusion
References