Cooperative Control of Multi-agent Systems: Distributed-Observer and Distributed-Internal-Model Approaches (Advances in Industrial Control)

✍ Scribed by He Cai, Youfeng Su, Jie Huang

• Publisher: Springer
• Year: 2022
• Tongue: English
• Leaves: 399
• Category: Library

✦ Synopsis

The main focus of this book is a pair of cooperative control problems: consensus and cooperative output regulation. Its emphasis is on complex multi-agent systems characterized by strong nonlinearity, large uncertainty, heterogeneity, external disturbances and jointly connected switching communication topologies. The cooperative output regulation problem is a generalization of the classical output regulation problem to multi-agent systems and it offers a general framework for handling a variety of cooperative control problems such as consensus, formation, tracking and disturbance rejection.

The book strikes a balance between rigorous mathematical proof and engineering practicality. Every design method is systematically presented together with illustrative examples and all the designs are validated by computer simulation. The methods presented are applied to several practical problems, among them the leader-following consensus problem of multiple Euler–Lagrange systems, attitude synchronization of multiple rigid-body systems, and power regulation of microgrids. The book gives a detailed exposition of two approaches to the design of distributed control laws for complex multi-agent systems―the distributed-observer and distributed-internal-model approaches. Mastering both will enhance a reader’s ability to deal with a variety of complex real-world problems.

Cooperative Control of Multi-agent Systems can be used as a textbook for graduate students in engineering, sciences, and mathematics, and can also serve as a reference book for practitioners and theorists in both industry and academia. Some knowledge of the fundamentals of linear algebra, calculus, and linear systems are needed to gain maximum benefit from this book.

Advances in Industrial Control reports and encourages the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.

✦ Table of Contents

Series Editor’s Foreword
Preface
Acknowledgements
Contents
Notation
List of Figures
1 Introduction
1.1 Multi-agent Control Systems
1.2 Graph and Distributed Control
1.2.1 Static Graphs
1.2.2 Switching Graphs
1.2.3 Distributed Control Scheme
1.3 Cooperative Control
1.4 Organization of the Book
1.5 Notes and References
References
2 Preliminaries
2.1 Properties of Some Typical Graphs
2.1.1 Static Graphs
2.1.2 Switching Graphs
2.2 Perturbed Systems
2.3 Generalized Barbalat's Lemma
2.4 Some Other Results
2.5 Notes and References
References
3 Two Consensus Problems
3.1 A Motivating Example
3.2 Problem Formulation
3.3 The Two Consensus Problems over Static Networks
3.4 The Two Consensus Problems over Switching Networks
3.5 A Dual Result to Theorem 3.4
3.6 Notes and References
References
4 The Distributed Observer Approach
4.1 Introduction
4.2 A Framework for Synthesizing Distributed Control Laws
4.3 Distributed Observer for a Known Leader System
4.4 Adaptive Distributed Observer for a Known Leader System
4.4.1 Case 1
4.4.2 Case 2
4.4.3 Case 3
4.4.4 Case 4
4.5 Adaptive Distributed Observer for an Uncertain Leader System
4.6 Numerical Examples
4.7 Notes and References
References
5 Leader-Following Consensus of Multiple Euler–Lagrange Systems
5.1 Euler–Lagrange Systems
5.2 Tracking Control of a Single Euler–Lagrange System
5.3 Estimation-Based Control
5.4 Leader-Following Consensus of Multiple Euler–Lagrange Systems
5.5 Numerical Examples
5.6 Notes and References
References
6 Leader-Following Consensus of Multiple Rigid-Body Systems
6.1 Attitude Parametrization, Kinematics, and Dynamics
6.1.1 Rotation Matrix
6.1.2 Quaternion and Unit Quaternion
6.1.3 Attitude Parameterized by Unit Quaternion
6.1.4 Unit Quaternion-Based Attitude Kinematics and Dynamics
6.2 Tracking Control of a Single Rigid-Body System
6.2.1 Case 1: J Is Known and ω,q Are Available
6.2.2 Case 2: J Is Uncertain and ω,q Are Available
6.2.3 Case 3: J Is Known and Only q Is Available
6.3 Estimation-Based Control
6.3.1 Case 1: J Is Known and ω,q Are Available
6.3.2 Case 2: J Is Uncertain and ω,q Are Available
6.3.3 Case 3: J Is Known and Only q Is Available
6.4 Leader-Following Consensus of Multiple Rigid-Body Systems
6.4.1 Problem Formulation
6.4.2 Distributed Observer Design
6.4.3 Solvability of Problem 6.3 for Three Cases
6.5 Numerical Examples
6.6 Notes and References
References
7 Output Regulation
7.1 A Typical Scenario
7.2 Linear Output Regulation: Feedforward Design
7.3 Linear Structurally Stable Output Regulation: p-copy Internal Model
7.4 Linear Robust Output Regulation: Canonical Internal Model
7.5 Notes and References
References
8 Cooperative Output Regulation of Linear Multi-agent Systems by Distributed Observer Approach
8.1 Linear Cooperative Output Regulation
8.2 Distributed Observer-Based Approach
8.3 Adaptive Distributed Observer-Based Approach
8.4 An Application to the Power Tracking Problem of a Grid-Connected …
8.5 Notes and References
References
9 Cooperative Robust Output Regulation of Linear Multi-agent Systems
9.1 Cooperative Structurally Stable Output Regulation
9.2 Solvability of Cooperative Structurally Stable Output Regulation
9.3 Cooperative Robust Output Regulation by Distributed …
9.4 Notes and References
References
10 Cooperative Robust Output Regulation of Nonlinear Multi-agent Systems Over Static Networks
10.1 Problem Formulation and Preliminaries
10.2 Solvability of Case 1 of the Problem
10.3 Solvability of Case 2 of the Problem
10.4 Solvability of Case 3 of the Problem
10.5 Numerical Examples
10.6 Notes and References
References
11 Cooperative Robust Output Regulation of Nonlinear Multi-agent Systems over Switching Networks
11.1 Problem Formulation
11.2 Preliminaries
11.3 Solvability of Case 1 of the Problem
11.4 Solvability of Case 2 of the Problem
11.5 Numerical Examples
11.6 Notes and References
References
Appendix Appendix A
A.1 Kronecker Product and Sylvester Equation
A.2 Some Results in Matrix Theory
A.3 Some Stability Results
A.4 Proof of Lemma 3.4摥映數爠eflinkchsta.lem.swiab23.43
A.5 Identities for Chap.6摥映數爠eflinkchrb66
A.6 A General Framework for Robust Output Regulation Problem and the Canonical Internal Model
A.7 Stabilizing Techniques for Nonlinear Systems
A.8 Notes and References
References
Index