Cooperative Control of Multi-Agent Systems: A Consensus Region Approach [Paperback]

Introduction and Mathematical Background. Consensus Control of Linear Multi-Agent Systems: Continuous-Time Case. Consensus Control of Linear Multi-Agent Systems: Discrete-Time Case. H and H₂ Consensus Control of Linear Multi-Agent Systems. Consensus Control of Linear Multi-Agent Systems Using Distributed Adaptive Protocols. Distributed Tracking of Linear Multi-Agent Systems with a Leader of Possibly Nonzero Input. Containment Control of Linear Multi-Agent Systems with Multiple Leaders. Distributed Robust Cooperative Control for Multi-Agent Systems with Heterogeneous Matching Uncertainties. Global Consensus of Multi-Agent Systems with Lipchitz Non-Linear Dynamics. Bibliography.

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 mul#2