Distributed coordination of multi-agent networks: emergent problems, models, and issues

✍ Scribed by Ren, Wei;Cao, Yongcan

• Publisher: Springer
• Year: 2010;2011
• Tongue: English
• Leaves: 312
• Series: Communications and control engineering
• Category: Library

✦ Synopsis

Multi-agent systems have numerous civilian, homeland security, and military applications; however, for all these applications, communication bandwidth, sensing range, power constraints, and stealth requirements preclude centralized command and control. The alternative is distributed coordination, which is more promising in terms of scalability, robustness, and flexibility. Distributed Coordination of Multi-agent Networks introduces problems, models, and issues such as collective periodic motion coordination, collective tracking with a dynamic leader, and containment control with multiple leaders, and explores ideas for their solution. Solving these problems extends the existing application domains of multi-agent networks; for example, collective periodic motion coordination is appropriate for applications involving repetitive movements, collective tracking guarantees tracking of a dynamic leader by multiple followers in the presence of reduced interaction and partial measurements, and containment control enables maneuvering of multiple followers by multiple leaders. The authors models for distributed coordination arise from physical constraints and the complex environments in which multi-agent systems operate; they include Lagrangian models more realistic for mechanical-systems modeling than point models and fractional-order systems which better represent the consequences of environmental complexity. Other issues addressed in the text include the time delays inherent in networked systems, optimality concerns associated with the deisgn of energy-efficent algorithms, and the use of sampled-data settings in systems with intermittent neightbor-neighbor contact. Researchers, graduate students, and engineers interested in the field of multi-agent systems will find this monograph useful in introducing them to presently emerging research directions and problems in distributed coordination of multi-agent networks. The Communications and Control Engineering series reports major technological advances which have potential for great impact in the fields of communication and control. It reflects research in industrial and academic institutions around the world so that the readership can exploit new possibilities as they become available.

✦ Table of Contents

Coordinated Regulation when the Leader's Position is Constant......Page 6
Coordinated Tracking with Full Access to the Leader's Velocity......Page 8
Coordinated Tracking with Partial Access to the Leader's Velocity......Page 11
Cover......Page 1
Optimal Linear Coordination Algorithms in a Continuous-time Setting from a Linear Quadratic Regulator Perspective......Page 3
Preface......Page 7
Index......Page 15
Preliminaries and Literature Review......Page 17
Optimal Scaling Factor Using the Interaction-related Cost Function......Page 19
Optimal State Feedback Gain Matrix Using the Interaction-free Cost Function......Page 4
Directed Switching Interaction......Page 5
Acknowledgements......Page 9
Illustrative Examples......Page 10
Contents......Page 12
Absolute Damping......Page 13
Stability Analysis for Multiple Dynamic Leaders......Page 14
Coordinated Regulation when the Leader's Vector of Generalized Coordinates is Constant......Page 16
Notations......Page 18
Leaderless Coordination......Page 2
Algebraic Graph Theory Background......Page 20
Notes......Page 25
Linear and Nonlinear System Theory Background......Page 28
Notes......Page 30
Algebra and Matrix Theory Background......Page 24
Analysis for Multiple Stationary Leaders......Page 27
Analysis for Multiple Dynamic Leaders......Page 29
Simulation......Page 33
Notes......Page 36
Time-delay System Theory Background......Page 34
Notes......Page 35
Simulation......Page 22
Simulation......Page 31
Notes......Page 21
Nonsmooth Analysis Background......Page 32
Introduction......Page 37
Consensus......Page 39
Delay Effect......Page 40
Stochastic Setting......Page 41
Complex Systems......Page 42
Finite-time Convergence......Page 43
Matrix Theory Approach......Page 44
Graph Rigidity Approach......Page 45
Matrix Theory Approach......Page 46
Other Approaches......Page 47
Controllability......Page 48
Global Cost Functions......Page 49
Coverage Control......Page 50
Scheduling......Page 51
Surveillance......Page 52
Pursuer-invader Problem......Page 53
Game Theory......Page 54
Notes......Page 55
Emergent Problems in Distributed Multi-agent Coordination......Page 56
Cartesian Coordinate Coupling......Page 57
Single-integrator Dynamics......Page 58
Double-integrator Dynamics......Page 63
Simulation......Page 72
Coupled Harmonic Oscillators......Page 74
Problem Statement......Page 75
Convergence Under Directed Fixed Interaction......Page 76
Convergence Under Directed Switching Interaction......Page 81
Application to Motion Coordination in Multi-agent Systems......Page 84
Notes......Page 86
Problem Statement......Page 88
Coordinated Tracking Under Fixed and Switching Interaction......Page 89
Swarm Tracking Under Switching Interaction......Page 94
Coordinated Tracking when the Leader's Velocity is Varying......Page 96
Coordinated Tracking when the Leader's Velocity is Constant......Page 102
Swarm Tracking when the Leader's Velocity is Constant......Page 103
Swarm Tracking when the Leader's Velocity is Varying......Page 104
Simulation......Page 107
Notes......Page 115
Problem Statement......Page 119
Directed Fixed Interaction......Page 121
Directed Switching Interaction......Page 123
Simulation......Page 130
Stability Analysis for Multiple Dynamic Leaders......Page 132
Directed Fixed Interaction......Page 133
Directed Switching Interaction......Page 137
Simulation......Page 142
Algorithm Design......Page 143
Analysis for Multiple Stationary Leaders......Page 145
Analysis for Multiple Dynamic Leaders......Page 147
Simulation......Page 151
Notes......Page 154
Emergent Models in Distributed Multi-agent Coordination......Page 155
Problem Statement......Page 156
Distributed Leaderless Coordination for Networked Lagrangian Systems......Page 158
Fundamental Algorithm......Page 159
Nonlinear Algorithm......Page 161
Algorithm Accounting for Unavailability of Measurements of Generalized Coordinate Derivatives......Page 164
Simulation......Page 166
Distributed Coordinated Regulation and Tracking for Networked Lagrangian Systems......Page 170
Coordinated Regulation when the Leader's Vector of Generalized Coordinates is Constant......Page 171
Coordinated Tracking when the Leader's Vector of Generalized Coordinate Derivatives is Constant......Page 174
Model-dependent Coordinated Tracking Algorithm......Page 175
Coordinated Tracking Algorithm Accounting for Parametric Uncertainties......Page 180
Coordinated Tracking when the Leader's Vector of Generalized Coordinate Derivatives is Varying......Page 183
Simulation......Page 189
Notes......Page 190
Problem Statement......Page 193
Directed Fixed Interaction......Page 196
Directed Switching Interaction......Page 200
Simulation......Page 202
Absolute Damping......Page 205
Relative Damping......Page 207
Simulation......Page 210
Notes......Page 212
Emergent Issues in Distributed Multi-agent Coordination......Page 213
Sampled-data Coordinated Tracking for Single-integrator Dynamics......Page 214
Algorithm Design......Page 215
Convergence Analysis of the Proportional-derivative-like Discrete-time Coordinated Tracking Algorithm......Page 216
Comparison Between the Proportional-like and Proportional-derivative-like Discrete-time Coordinated Tracking Algorithms......Page 220
Simulation......Page 222
Coordination Algorithms with Absolute and Relative Damping......Page 224
Convergence Analysis of the Sampled-data Coordination Algorithm with Absolute Damping......Page 225
Convergence Analysis of the Sampled-data Coordination Algorithm with Relative Damping......Page 231
Simulation......Page 235
Sampled-data Coordination for Double-integrator Dynamics Under Switching Interaction......Page 237
Convergence Analysis of the Sampled-data Coordination Algorithm with Absolute Damping......Page 238
Convergence Analysis of the Sampled-data Coordination Algorithm with Relative Damping......Page 241
Simulation......Page 244
Notes......Page 247
Problem Statement......Page 248
Optimal Linear Coordination Algorithms in a Continuous-time Setting from a Linear Quadratic Regulator Perspective......Page 250
Optimal State Feedback Gain Matrix Using the Interaction-free Cost Function......Page 251
Optimal Scaling Factor Using the Interaction-related Cost Function......Page 254
Illustrative Examples......Page 257
Optimal State Feedback Gain Matrix Using the Interaction-free Cost Function......Page 258
Optimal Scaling Factor Using the Interaction-related Cost Function......Page 266
Illustrative Examples......Page 267
Notes......Page 268
Problem Statement......Page 269
Leaderless Coordination......Page 270
Coordinated Regulation when the Leader's Position is Constant......Page 274
Coordinated Tracking with Full Access to the Leader's Velocity......Page 276
Coordinated Tracking with Partial Access to the Leader's Velocity......Page 279
Leaderless Coordination......Page 280
Coordinated Tracking when the Leader's Velocity is Constant......Page 283
Coordinated Tracking with Full Access to the Leader's Acceleration......Page 286
Coordinated Tracking with Partial Access to the Leader's Acceleration......Page 288
Simulation......Page 290
Notes......Page 293
References......Page 296
Index......Page 310