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Author: Chao Zhai Publisher: Springer ISBN: 9789811676277 Category : Technology & Engineering Languages : en Pages : 0
Book Description
This book highlights cooperative coverage control approaches of multi-agent systems in uncertain environments and their applications in various fields. A novel theoretical formulation of multi-agent coverage is proposed to fulfill the coverage task via divide-and-conquer scheme. By taking workload partition and sweeping operations simultaneously, a distributed sweep coverage algorithm of multi-agent systems is developed to cooperatively complete the workload on the given region, and its input-to-state stability is guaranteed in theory. Moreover, the coverage performance is evaluated by estimating the error between the actual coverage time and the optimal time. Three application scenarios are presented to demonstrate the advantages of cooperative coverage control approaches in missile interception, intelligent transportation systems and environment monitoring, respectively.
Author: Chao Zhai Publisher: Springer ISBN: 9789811676277 Category : Technology & Engineering Languages : en Pages : 0
Book Description
This book highlights cooperative coverage control approaches of multi-agent systems in uncertain environments and their applications in various fields. A novel theoretical formulation of multi-agent coverage is proposed to fulfill the coverage task via divide-and-conquer scheme. By taking workload partition and sweeping operations simultaneously, a distributed sweep coverage algorithm of multi-agent systems is developed to cooperatively complete the workload on the given region, and its input-to-state stability is guaranteed in theory. Moreover, the coverage performance is evaluated by estimating the error between the actual coverage time and the optimal time. Three application scenarios are presented to demonstrate the advantages of cooperative coverage control approaches in missile interception, intelligent transportation systems and environment monitoring, respectively.
Author: Chao Zhai Publisher: Springer Nature ISBN: 9811676259 Category : Technology & Engineering Languages : en Pages : 151
Book Description
This book highlights cooperative coverage control approaches of multi-agent systems in uncertain environments and their applications in various fields. A novel theoretical formulation of multi-agent coverage is proposed to fulfill the coverage task via divide-and-conquer scheme. By taking workload partition and sweeping operations simultaneously, a distributed sweep coverage algorithm of multi-agent systems is developed to cooperatively complete the workload on the given region, and its input-to-state stability is guaranteed in theory. Moreover, the coverage performance is evaluated by estimating the error between the actual coverage time and the optimal time. Three application scenarios are presented to demonstrate the advantages of cooperative coverage control approaches in missile interception, intelligent transportation systems and environment monitoring, respectively.
Author: Yue Wang Publisher: John Wiley & Sons ISBN: 1119266122 Category : Technology & Engineering Languages : en Pages : 314
Book Description
A comprehensive review of the state of the art in the control of multi-agent systems theory and applications The superiority of multi-agent systems over single agents for the control of unmanned air, water and ground vehicles has been clearly demonstrated in a wide range of application areas. Their large-scale spatial distribution, robustness, high scalability and low cost enable multi-agent systems to achieve tasks that could not successfully be performed by even the most sophisticated single agent systems. Cooperative Control of Multi-Agent Systems: Theory and Applications provides a wide-ranging review of the latest developments in the cooperative control of multi-agent systems theory and applications. The applications described are mainly in the areas of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). Throughout, the authors link basic theory to multi-agent cooperative control practice — illustrated within the context of highly-realistic scenarios of high-level missions — without losing site of the mathematical background needed to provide performance guarantees under general working conditions. Many of the problems and solutions considered involve combinations of both types of vehicles. Topics explored include target assignment, target tracking, consensus, stochastic game theory-based framework, event-triggered control, topology design and identification, coordination under uncertainty and coverage control. Establishes a bridge between fundamental cooperative control theory and specific problems of interest in a wide range of applications areas Includes example applications from the fields of space exploration, radiation shielding, site clearance, tracking/classification, surveillance, search-and-rescue and more Features detailed presentations of specific algorithms and application frameworks with relevant commercial and military applications Provides a comprehensive look at the latest developments in this rapidly evolving field, while offering informed speculation on future directions for collective control systems The use of multi-agent system technologies in both everyday commercial use and national defense is certain to increase tremendously in the years ahead, making this book a valuable resource for researchers, engineers, and applied mathematicians working in systems and controls, as well as advanced undergraduates and graduate students interested in those areas.
Author: Zhongkui Li Publisher: CRC Press ISBN: 1466569972 Category : Computers Languages : en Pages : 262
Book Description
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. Cooperative Control of Multi-Agent Systems: A Consensus Region Approach 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. Beginning with an introduction to cooperative control and graph theory, this monograph: Explores the consensus control problem for continuous-time and discrete-time linear multi-agent systems Studies the H∞ and H2 consensus problems for linear multi-agent systems subject to external disturbances Designs distributed adaptive consensus protocols for continuous-time linear multi-agent systems Considers the distributed tracking control problem for linear multi-agent systems with a leader of nonzero control input Examines the distributed containment control problem for the case with multiple leaders Covers the robust cooperative control problem for multi-agent systems with linear nominal agent dynamics subject to heterogeneous matching uncertainties Discusses the global consensus problem for Lipschitz nonlinear multi-agent systems Cooperative Control of Multi-Agent Systems: A Consensus Region Approach 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.
Author: Jeff Shamma Publisher: John Wiley & Sons ISBN: 9780470724194 Category : Science Languages : en Pages : 452
Book Description
The paradigm of ‘multi-agent’ cooperative control is the challenge frontier for new control system application domains, and as a research area it has experienced a considerable increase in activity in recent years. This volume, the result of a UCLA collaborative project with Caltech, Cornell and MIT, presents cutting edge results in terms of the “dimensions” of cooperative control from leading researchers worldwide. This dimensional decomposition allows the reader to assess the multi-faceted landscape of cooperative control. Cooperative Control of Distributed Multi-Agent Systems is organized into four main themes, or dimensions, of cooperative control: distributed control and computation, adversarial interactions, uncertain evolution and complexity management. The military application of autonomous vehicles systems or multiple unmanned vehicles is primarily targeted; however much of the material is relevant to a broader range of multi-agent systems including cooperative robotics, distributed computing, sensor networks and data network congestion control. Cooperative Control of Distributed Multi-Agent Systems offers the reader an organized presentation of a variety of recent research advances, supporting software and experimental data on the resolution of the cooperative control problem. It will appeal to senior academics, researchers and graduate students as well as engineers working in the areas of cooperative systems, control and optimization.
Author: Frank L. Lewis Publisher: Springer Science & Business Media ISBN: 1447155742 Category : Technology & Engineering Languages : en Pages : 315
Book Description
Cooperative Control of Multi-Agent Systems extends optimal control and adaptive control design methods to multi-agent systems on communication graphs. It develops Riccati design techniques for general linear dynamics for cooperative state feedback design, cooperative observer design, and cooperative dynamic output feedback design. Both continuous-time and discrete-time dynamical multi-agent systems are treated. Optimal cooperative control is introduced and neural adaptive design techniques for multi-agent nonlinear systems with unknown dynamics, which are rarely treated in literature are developed. Results spanning systems with first-, second- and on up to general high-order nonlinear dynamics are presented. Each control methodology proposed is developed by rigorous proofs. All algorithms are justified by simulation examples. The text is self-contained and will serve as an excellent comprehensive source of information for researchers and graduate students working with multi-agent systems.
Author: Sadao Kawamura Publisher: Springer Science & Business Media ISBN: 3540373470 Category : Technology & Engineering Languages : en Pages : 360
Book Description
This volume surveys three decades of modern robot control theory and describes how the work of Suguru Arimoto shaped its development. Twelve survey articles written by experts associated with Suguru Arimoto at various stages in his career treat the subject comprehensively. This book provides an important reference for graduate students and researchers, as well as for mathematicians, engineers and scientists whose work involves robot control theory.
Author: Chao Zhai Publisher: Springer Nature ISBN: 9819930537 Category : Technology & Engineering Languages : en Pages : 218
Book Description
This book provides a systematic framework to enhance the ability of complex dynamical systems in risk identification, security assessment, system protection, and recovery with the assistance of advanced control and optimization technologies. By treating external disturbances as control inputs, optimal control approach is employed to identify disruptive disturbances, and online security assessment is conducted with Gaussian process and converse Lyapunov function. Model predictive approach and distributed optimization strategy are adopted to protect the complex system against critical contingencies. Moreover, the reinforcement learning method ensures the efficient restoration of complex systems from severe disruptions. This book is meant to be read and studied by researchers and graduates. It offers unique insights and practical methodology into designing and analyzing complex dynamical systems for resilience elevation.
Author: Qihai Sun Publisher: OAE Publishing Inc. ISBN: Category : Computers Languages : en Pages : 15
Book Description
This paper investigates the problem of optimal coverage control for multiple unmanned surface vehicles (USVs) in the presence of time-varying disturbances. To solve this problem, the disturbance vector observer is designed to approximate the unknown time-varying disturbances. It is demonstrated that the estimated disturbance vector converges to the actual disturbance vector within a finite time. To achieve the optimal coverage effect of the task region, the control idea of layer-by-layer design is borrowed, and the desired velocities of the USV are designed. By following the desired velocities, the USV network can achieve the optimal coverage effect of the task region. Based on the estimated disturbances, a robust coverage controller is designed to achieve the tracking of desired velocities by the USV within a finite time, ultimately achieving optimal coverage effect of the task region by the USV network. Finally, corresponding simulation results are provided to validate the effectiveness of the proposed approach.
Author: Chao Zhai
Author: Chao Zhai
Author: Chao Zhai
Author: Yue Wang
Author: Zhongkui Li
Author: Jeff Shamma
Author: Marcelo H. Ang Jr
Author: Frank L. Lewis
Author: Sadao Kawamura
Author: Chao Zhai
Author: Qihai Sun