Cooperative Control of Multi-Agent Systems with Uncertainties

1st Edition - April 4, 2024
Authors: Hao Zhang, Chao Huang, Zhuping Wang, Huaicheng Yan
Language: English
Paperback ISBN:
9 7 8 - 0 - 4 4 3 - 2 1 8 5 9 - 0
eBook ISBN:
9 7 8 - 0 - 4 4 3 - 2 1 8 6 0 - 6

Cooperative Control of Multi-Agent Systems with Uncertainties proposes a hierarchical design framework that places uncertainties related to system models in the decentral… Read more

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Cooperative Control of Multi-Agent Systems with Uncertainties proposes a hierarchical design framework that places uncertainties related to system models in the decentralized control layer (bottom layer) and the ones related to the communication (as well as physical interaction) between the agents in the distributed decision-making layer (top layer). The book shows that the two layers meet separation principles under certain conditions so that through the two-layer design framework any challenges can be resolved independently and so that design complexities will not increase with the level of uncertainties.

In addition, in order to solve the problem of energy limitation of agents, the book also studies the event-driven cooperative control of multi-agent systems, which can effectively reduce energy consumption of agents and increase their operational lifespan.

Cover image
Title page
Table of Contents
Copyright
List of figures
List of tables
Biography
Prof. Hao Zhang
Dr. Chao Huang
Prof. Zhuping Wang
Prof. Huaicheng Yan
Preface
Chapter 1: Introduction
Abstract
1.1. Cooperative control of multi-agent systems
1.2. Organization of the book
References
Chapter 2: Preliminaries
Abstract
2.1. Fundamentals on graph theory
2.2. Linear systems and control
2.3. Nonlinear systems and control
2.4. Basics of reinforcement learning
Literature review
References
Chapter 3: Two-layer framework for multi-agent system cooperative control subject to unreliable communications
Abstract
3.1. Cooperative decision-making
3.2. Decentralized control
3.3. Condition for establishing separation principle
Literature review
References
Chapter 4: Distributed consensus protocols for cooperative decision-making
Abstract
4.1. Distributed static consensus protocol: convergence
4.2. Distributed static consensus protocol: X-consensus
4.3. Distributed dynamical consensus protocols: linear dynamics
4.4. Distributed dynamical consensus protocols: nonlinear dynamics
4.5. Distributed dynamical consensus with passivity-based protocols
Literature review
References
Chapter 5: Decentralized control of multi-agent systems
Abstract
5.1. Decentralized linear output regulation controller
5.2. Decentralized nonlinear output regulation controller
5.3. Decentralized λ-tracking controller: output-feedback nonlinear multi-agent systems
5.4. Decentralized λ-tracking controller: lower triangular nonlinear multi-agent systems
5.5. Pairwise consensus subject to unreliable communication
Literature review
References
Chapter 6: Event-triggered communication and control of multi-agent systems subject to limited resources
Abstract
6.1. Event-triggered mechanism with self and inter-agent delays
6.2. Design of dynamic event-triggering mechanism
6.3. Design of adaptive dynamic event-triggering mechanisms
6.4. Event-triggered cooperative control of passive multi-agent systems
Literature review
References
Chapter 7: Data-driven cooperative control of multi-agent systems subject to uncertain dynamical models
Abstract
7.1. Optimal cooperative control via policy-gradient algorithms
7.2. Implementation via actor-critic structure
7.3. Numerical studies
Literature review
References
Appendix A: Proof of Theorem 4.1
References
Appendix B: Proof of Lemma 5.10
References
Appendix C: Proof of Theorem 6.2
References
Appendix D: Proof of Theorem 6.4
References
Appendix E: Proof of Theorem 6.7
References
Appendix F: Proof of Theorem 6.9
References
Appendix G: Proof of Theorem 6.10
Appendix H: Proof of Lemma 6.13
References
Appendix I: Proof of Theorem 2.24 based on condition (6.33)
References
References
Index

Hao Zhang

Prof. Hao Zhang received her doctorate degree from Huazhong University of Science and Technology, Wuhan, China, in 2007. She held lecturer’s position at Tongji University, Shanghai, China, in 2007. In 2015, she was promoted to professor and doctoral supervisor. From 2011 to 2013, she also worked as a postdoctoral researcher at the City University of Hong Kong. She also conducted research visits at Griffith University in Australia, the University of Melbourne, and the University of Guelph in Canada. In 2018, she was selected into the Changjiang Young Scholars Program of the Ministry of Education of China. In 2019, she presided over the national fund for Outstanding Young Scholars Program. Her main research fields include: control of networked multi-agent systems, network security, multi-sensor information fusion, etc. More than 100 of her papers have been published in influential international journals and conferences, and more than 70 papers are included by SCI. Among them, more than 30 papers have been published in IEEE Transactions such as IEEE Transactions on Automatic Control and Automatica, and 13 papers have been selected as the top 1% highly cited papers in ESI. One paper was selected as "China's 100 most influential international academic papers". She is the editorial board member of IEEE Intelligent Transportation Systems Magazine, SCIENCE CHINA Information Sciences-Security and Safety, Intelligence & Robotics, and other international journals. She served as chairman / program member of WCICA, CCC, IEEE ICIA and other international conference associations. Her published papers have been cited by SCI for more than 1500 times, including more than 20 IEEE fellows and famous scholars in the field of systems and control, including fellows of the American Academy of Sciences and the Academy of engineering.

Affiliations and expertise

Professor College of Electronic and Information Engineering,Tongji University Press),Director, International Office,Tongji University Press,Shanghai, China.

Chao Huang

Dr. Chao Huang received his doctorate degree from Zhejiang University, Hangzhou, China, in 2015. He is now an assistant professor in the school of electronic and information engineering, Tongji University. He has long been engaged in the research work of cooperative control of multi-agent system. As the first author, he has published 8 relevant SCI papers in this field.

Affiliations and expertise

Associate Professor, College of Electronic and Information Engineering, Tongji University Press),Director, International Office,Tongji University Press,Shanghai, China.

Zhuping Wang

Prof. Zhuping Wang received her doctorate degree from National University of Singapore University. She is now a professor and doctoral supervisor in the school of electronic and information engineering, Tongji University. She has long been engaged in the research of advanced control theory and its application In the fields of multi-agent cooperative control, network security, intelligent vehicle control, etc., 30 SCI papers such as IEEE Trans series and Automatica have been published, and more than 10 national invention patents have been applied. She won the first prize of Shanghai Science and Technology Progress Award and the second prize of Shanghai Natural Science Award.

Affiliations and expertise

Professor, College of Electronic and Information Engineering, Tongji University Press),Director, International Office,Tongji University Press,Shanghai, China.

Huaicheng Yan

Huaicheng Yan received his B.Sc. degree in automatic control from Wuhan University of Technology, China, in 2001, and his Ph.D. degree in control theory and control engineering from Huazhong University of Science and Technology, China, in 2007. From 2007 to 2009, he was a Postdoctoral Fellow with the Chinese University of Hong Kong. Currently, he is a Professor with the School of Information Science and Engineering, East China University of Science and Technology, Shanghai, China. He has published over 300 papers in the peer-reviewed international journals. He is an associate editor for IEEE Transactions on Neural Networks and Learning Systems, IEEE Transactions on Fuzzy Systems, International Journal of Robotics and Automation, IEEE Open Journal of Circuits and Systems, etc. His research interests include networked control systems, multi-agent systems, stochastic systems and robotics

Affiliations and expertise

Professor, Key Laboratory of Advanced Control and Optimization for Chemical Process of Ministry of Education, East China University of Science and Technology, China

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Cooperative Control of Multi-Agent Systems with Uncertainties

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Hao Zhang

Chao Huang

Zhuping Wang

Huaicheng Yan