Robust Cooperative Control of Multi-Agent Systems: A Prediction and Observation Prospective

Description

This book presents a concise introduction to the latest advances in robust cooperative control design for multi-agent systems with input delay and external disturbances, especially from a prediction and observation perspective. The volume covers a wide range of applications, such as the trajectory tracking of quadrotors, formation flying of multiple unmanned aerial vehicles (UAVs) and fixed-time formation of ground vehicles. Robust cooperative control means that multi-agent systems are able to achieve specified control tasks while remaining robust in the face of both parametric and nonparametric model uncertainties. In addition, the authors cover a wide range of key issues in cooperative control, such as communication and input delays, parametric model uncertainties and external disturbances. Moving beyond the scope of existing works, a systematic prediction and observation approach to designing robust cooperative control laws is presented. About the Authors Chunyan Wang is an Associate Professor in the School of Aerospace Engineering at Beijing Institute of Technology, China. Zongyu Zuo is a full Professor with the School of Automation Science and Electrical Engineering, Beihang University, China. Jianan Wang is an Associate Professor in the School of Aerospace Engineering at Beijing Institute of Technology, China. Zhengtao Ding is a Professor in the Department of Electrical and Electronic Engineering at University of Manchester, U.K. Cover Half Title Title Page Copyright Page Contents Author Bios Preface 1. Introduction and Mathematical Background 1.1. Multi-Agent Coordination 1.1.1. Control Architectures 1.1.2. Potential Applications 1.1.3. Research Topics 1.2. Robust Problem in Cooperative Control 1.2.1. Time-Delay Problem 1.2.2. Model Uncertanties and External Disturbances 1.3. Overview of This Monograph 1.4. Mathematical Background 1.4.1. Notations 1.4.2. Matrix Theory 1.4.3. Stability Theory 1.4.4. Basic Algebraic Graph Theory 1.5. Notes 2. Stabilization of Single Systems with Input Delay: Prediction and Observation 2.1. Problem Formulation and Preliminaries 2.1.1. Problem Statement 2.1.2. Predictor and Truncated Prediction 2.1.3. Preliminary Results 2.2. Truncated Prediction Feedback with Constant Input Delay 2.3. Truncated Prediction Feedback with Time-Varying Input Delay 2.3.1. Stabilization by State Feedback 2.3.2. Stabilization by Output Feedback 2.4. Predictive Descriptor Observer Design for LTI Systems with Input Delay and Sensor Fault 2.4.1. Problem Formulation 2.4.2. Stabilization by State Feedback 2.4.3. Stabilization by Output Feedback under Sensor Fault 2.5. Numerical Examples 2.5.1. Constant Input Delay Case 2.5.2. Time-Varying Delay Case 2.6. Experiment Validation 2.6.1. Quadrotor Model and Linearization 2.6.2. Experimental Platform 2.6.3. Experimental Results 2.7. Conclusions 2.8. Notes 3. Robust Consensus Control for Uncertian Linear Multi-Agent Systems with Input Delay 3.1. Problem Formulation 3.2. Robust Consensus Controller Design 3.3. A Numerical Example 3.4. Conclusions 3.5. Notes 4 H∞ Consensus Control of Linear Multi-Agent Systems with Input Delay 4.1. Problem Formulation 4.2. H∞ Consensus Control 4.3. A Numerical Example 4.4. Conclusions 4.5. Notes 5. Consensus Control of Nonlinear Multi-Agent Systems with Input Delay 5.1. Problem Formulation 5.2. Predictor-Based Consensus 5.3. Truncated-Predictor-Based Consensus 5.4. Numerical Examples 5.4.1. Predictor Case 5.4.2. TPF Case 5.5. Conclusions 5.6. Notes 6. Consensus Disturbance Rejection for Lipschitz Nonlinear MASs with Input Delay: A Predictor Feedback Approach 6.1. Problem Formulation 6.2. Consensus Disturbance Rejection 6.2.1. Controller and Observer Design 6.2.2. Consensus Analysis 6.3. A Numerical Example 6.4. Conclusions 6.5. Notes 7. Consensus Disturbance Rejection for Lipschitz Nonlinear MASs with Input Delay: A Predictive Observation Approach 7.1. Problem Formulation 7.2. Predictive Observer-Based Consensus for Linear Case 7.2.1. Predictor-Based ESO and Controller Design 7.2.2. Stability Analysis 7.3. Predictor Observer Design for Nonlinear Case 7.4. A Numerical Example 7.5. Conclusions 7.6. Notes 8. Formation Control with Disturbance Rejection for a Class of Lipschitz Nonlinear Systems 8.1. Problem Formulation 8.1.1. Problem Statement 8.2. DOBC-Based Formation Control 8.3. A Numerical Example 8.4. Conclusions 8.5. Notes 9. Fixed-Time Formation Control of Input-Delayed Multi-Agent Systems: Design and Experiments 9.1. Problem Formulation and Preliminaries 9.1.1. Problem Formulation 9.1.2. Preliminaries 9.2. Fixed-Time Formation Control 9.2.1. Fixed-Time Formation with Undirected Topology 9.2.2. Fixed-Time Formation with Directed Topology 9.3. A Numerical Example 9.4. Experiment Validation 9.4.1. Experimental Platform 9.4.2. Linearization-Based Kinematic Model of E-Puck Robot 9.4.3. Static Formation with Four E-Puck Robots 9.4.4. Time-Varying Formation with Four E-Puck Robots 9.5. Conclusions 9.6. Notes 10. Cascade Structure Predictive Observer Design for Consensus Control with Applications to UAVs Formation Flying 10.1. Problem Formulation 10.2. Delay Upper Bound Analysis 10.3. Observer and Controller Design 10.3.1. Cascade Predictive Observer Design 10.3.2. Distributed Robust Adaptive Controller Design 10.4. Numerical Example 10.5. Experiment Validation 10.5.1. Experimental Platform 10.5.2. Experimental Results 10.6. Conclusions 10.7. Notes Bibliography