Modelling, Analysis, and Control of Networked Dynamical Systems

✍ Scribed by Ziyang Meng, Tao Yang, Karl H. Johansson

• Publisher: Birkhäuser
• Year: 2021
• Tongue: English
• Leaves: 169
• Series: Systems & Control: Foundations & Applications
• Edition: 1
• Category: Library

✦ Synopsis

This monograph provides a comprehensive exploration of new tools for modelling, analysis, and control of networked dynamical systems. Expanding on the authors’ previous work, this volume highlights how local exchange of information and cooperation among neighboring agents can lead to emergent global behaviors in a given networked dynamical system.

Divided into four sections, the first part of the book begins with some preliminaries and the general networked dynamical model that is used throughout the rest of the book. The second part focuses on synchronization of networked dynamical systems, synchronization with non-expansive dynamics, periodic solutions of networked dynamical systems, and modulus consensus of cooperative-antagonistic networks. In the third section, the authors solve control problems with input constraint, large delays, and heterogeneous dynamics. The final section of the book is devoted to applications, studying control problems of spacecraft formation flying, multi-robot rendezvous, and energy resource coordination of power networks.

Modelling, Analysis, and Control of Networked Dynamical Systems will appeal to researchers and graduate students interested in control theory and its applications, particularly those working in networked control systems, multi-agent systems, and cyber-physical systems. This volume can also be used in advanced undergraduate and graduate courses on networked control systems and multi-agent systems.

 

✦ Table of Contents

Preface
Contents
1 Introduction
1.1 Motivating Examples
1.1.1 Smart Grid
1.1.2 Spacecraft Formation Flying
1.1.3 Heavy-Duty Vehicle Platooning
1.1.4 Multiple Unmanned Aerial Vehicles
1.1.5 Social Networks
1.2 Objectives
1.3 Book Structure
1.4 Literature
References
Part I Modelling
2 Preliminaries
Notations
2.1 System Theory
2.1.1 LaSalle's Invariance Principle
2.1.2 Dini Derivatives
2.2 Convex Analysis
2.3 Interaction Graphs
2.4 Literature
References
3 Networked Dynamical System Models
3.1 Continuous-Time Model
3.2 Discrete-Time Model
3.3 Leader–Follower Model
3.4 Examples
3.4.1 Spacecraft Formation Flying
3.4.2 Multi-Robot Systems
3.4.3 Multiple Unmanned Aerial Vehicles
3.5 Literature
References
Part II Analysis
4 System Synchronization
4.1 Definitions on Consensus and Synchronization
4.2 Problem Formulation
4.3 Directed Graph
4.4 Undirected Graph
4.5 Simulations
4.5.1 Directed Graph
4.5.2 Undirected Graph
4.6 Literature
References
5 Synchronization with Non-expansive Dynamics
5.1 Problem Formulation
5.2 Directed Graph
5.3 Undirected Graph
5.4 Simulations
5.4.1 Directed Graph
5.4.2 Undirected Graph
5.5 Literature
References
6 Periodic Solutions
6.1 Problem Formulation
6.2 Neutrally Stable Agent Dynamics
6.3 Double Integrator Agent Dynamics
6.4 Simulations
6.4.1 Neutrally Stable Agent Dynamics
6.4.2 Double Integrator Agent Dynamics
6.5 Literature
References
7 Modulus Consensus
7.1 Definitions on Modulus Consensus
7.2 Problem Formulation
7.3 Modulus Consensus Conditions
7.4 Simulations
7.5 Literature
References
Part III Control
8 Control of Networked Dynamical System with Input Saturation
8.1 Problem Formulation and Control Algorithm
8.2 Neutrally Stable Agent Dynamics
8.3 Double Integrator Agent Dynamics
8.4 Simulations
8.4.1 Neutrally Stable Agent Dynamics
8.4.2 Double Integrator Agent Dynamics
8.5 Literature
References
9 Control of Networked Dynamical System with Large Delays
9.1 Problem Formulation and Control Algorithm
9.2 Delay-Independent Gain Conditions
9.3 Simulations
9.4 Literature
References
10 Control of Networked Dynamical System with Heterogenous Dynamics
10.1 Problem Formulation
10.1.1 Agent Dynamics
10.1.2 Available Information for Agents
10.1.3 Switching Topologies
10.1.4 Control Objective and Control Architecture
10.2 A Unified Observer-Based Control Algorithm
10.2.1 Redundant Modes
10.2.2 Regulated State Feedback Control Law
10.2.3 Pseudo-Identical Linear Transformation
10.2.4 Unified Observer Design
10.2.5 Main Results
10.3 Simulations
10.4 Literature
References
Part IV Applications
11 Spacecraft Formation Flying
11.1 Attitude Kinematics and Dynamics
11.2 Partial Attitude Synchronization
11.3 Full Attitude Synchronization
11.4 Simulations
11.4.1 Partial Attitude Synchronization
11.4.2 Full Attitude Synchronization
11.5 Literature
References
12 Multi-robot Rendezvous
12.1 Problem Formulation
12.2 Fixed Graphs
12.3 Switching Graphs
12.4 Simulations
12.4.1 Fixed Graphs
12.4.2 Switching Graphs
12.5 Literature
References
13 Energy Resource Coordination
13.1 Problem Formulation
13.2 Distributed Algorithm
13.3 Simulations
13.4 Literature
References