Cooperative Control of Multi-Agent Systems

<p>Distributed controller design is generally a challenging task especially for multi-agent systems with complex dynamics due to the interconnected effect of the agent dynamics the interaction graph among agents and the cooperative control laws. <b>Cooperative Control of Multi-Agent Systems: A Consensus Region Approach </b>offers a systematic framework for designing distributed controllers for multi-agent systems with general linear agent dynamics linear agent dynamics with uncertainties and Lipschitz nonlinear agent dynamics.</p><p>Beginning with an introduction to cooperative control and graph theory this monograph:</p><ul> <li>Explores the consensus control problem for continuous-time and discrete-time linear multi-agent systems</li> <li>Studies the H∞ and H2 consensus problems for linear multi-agent systems subject to external disturbances</li> <li>Designs distributed adaptive consensus protocols for continuous-time linear multi-agent systems </li> <li>Considers the distributed tracking control problem for linear multi-agent systems with a leader of nonzero control input</li> <li>Examines the distributed containment control problem for the case with multiple leaders</li> <li>Covers the robust cooperative control problem for multi-agent systems with linear nominal agent dynamics subject to heterogeneous matching uncertainties</li> <li>Discusses the global consensus problem for Lipschitz nonlinear multi-agent systems</li> </ul><p><b>Cooperative Control of Multi-Agent Systems: A Consensus Region Approach </b>provides a novel approach to designing distributed cooperative protocols for multi-agent systems with complex dynamics. The proposed consensus region decouples the design of the feedback gain matrices of the cooperative protocols from the communication graph and serves as a measure for the robustness of the protocols to variations of the communication graph. By exploiting the decoupling feature adaptive cooperative protocols are presented that can be designed and implemented in a fully distributed fashion.</p>