Consensus Tracking of Multi-agent Systems with Switching Topologies (Emerging Methodologies and Applications in Modelling, Identification and Control)

Description

Consensus Tracking of Multi-agent Systems with Switching Topologies takes an advanced look at the development of multi-agent systems with continuously switching topologies and relay tracking systems with switching of agents. Research problems addressed are well defined and numerical examples and simulation results are given to demonstrate the engineering potential. The book is aimed at advanced graduate students in control engineering, signal processing, nonlinear systems, switched systems and applied mathematics. It will also be a core reference for control engineers working on nonlinear control and switched control, as well as mathematicians and biomedical engineering researchers working on complex systems. Cover Consensus Tracking of Multiagent Systems with Switching Topologies Copyright Contents About the authors Acknowledgment 1 Introduction 1.1 A brief of multiagent systems 1.1.1 Related graph theory 1.1.2 Consensus control 1.1.3 Formation control 1.1.3.1 Position-based control 1.1.3.2 Displacement-based control 1.1.3.3 Distance-based control 1.1.4 Consensus tracking 1.2 Multiagent systems with time-varying topologies 1.2.1 Multiagent systems with switching topologies 1.2.2 Multiagent systems with jointly connected topologies 1.2.3 Multiagent systems with continuously time-varying topologies 1.3 Multiagent systems with node failures/actuator faults 1.4 Applications of multiagent systems 1.4.1 Application to cooperative robots 1.4.2 Application to multi-unmanned aerial vehicle 1.4.3 Application to intelligent train control References Further reading 2 Multiagent systems with continuously switching topologies 2.1 Introduction 2.2 First-order multiagent systems with continuously switching topologies 2.2.1 Main results 2.2.2 A numerical example 2.3 Second-order multiagent systems with continuously switching topologies 2.3.1 Consensus tracking with double-integrator dynamics 2.3.2 Consensus tracking with second-order nonlinear dynamics 2.3.3 Numerical examples 2.4 Conclusion References 3 High-order multiagent systems with continuously switching topologies 3.1 Introduction 3.2 Problem description 3.3 High-order multiagent systems with continuously switching topologies 3.3.1 Stability analysis 3.3.2 Simulation results 3.4 High-order multiagent systems with continuously switching topologies based on polytopic model 3.4.1 Stability analysis 3.4.2 A numerical example 3.5 Conclusion References 4 High-order multiagent systems with time delays and continuously switching topologies based on polytopic model 4.1 Introduction 4.2 Problem description 4.3 Main section 4.4 Numerical examples 4.5 Conclusion References 5 Sliding mode control for multiagent systems with continuously switching topologies based on polytopic model 5.1 Introduction 5.2 Preliminaries and problem description 5.3 Sliding mode controller design and stability analysis 5.3.1 Sliding mode controller design 5.3.2 Stability analysis 5.3.3 Numerical examples 5.4 Sliding mode control for multiagent systems with disturbances 5.4.1 Sliding mode controller design for systems with disturbances 5.4.2 Stability analysis for systems with disturbances 5.4.3 Numerical examples 5.5 Conclusion References 6 Cooperative relay tracking strategy for multiagent systems with assistance of Voronoi diagrams 6.1 Introduction 6.2 Voronoi diagrams 6.3 Relay tracking algorithm 6.4 Controller design and stability analysis 6.5 Numerical examples 6.6 Conclusion References Further reading 7 Stability of a class of multiagent relay tracking systems with unstable subsystems 7.1 Introduction 7.2 Related preliminaries 7.3 Problem formulation 7.4 Controller design and stability analysis 7.5 Disturbance attenuation analysis 7.6 Numerical examples 7.7 Conclusion References 8 Multiagent relay tracking systems with damaged agents and time-varying number of agents 8.1 Introduction 8.2 Relay tracking systems with damaged agents 8.2.1 Problem formulation 8.2.2 Relay tracking algorithm 8.2.3 Controller design and stability analysis 8.2.4 A numerical simulation 8.3 Relay tracking systems with time-varying number of agents 8.3.1 Preliminaries and problem formulation 8.3.2 Main results of relay tracking systems with time-varying number of agents 8.3.3 A numerical simulation 8.4 Conclusion References 9 Multiagent relay tracking systems with time-varying number of agents and time delays 9.1 Introduction 9.2 Linear relay tracking systems with time-varying number of agents and time delays 9.2.1 Problem formulation 9.2.2 Main results 9.2.3 Numerical simulations 9.3 Nonlinear relay tracking systems with time-varying number of agents and time delays 9.3.1 Related preliminaries 9.3.2 Stability analysis 9.3.3 Numerical simulations 9.4 Conclusion and discussions References 10 Finite time stability analysis and coordination strategies of multiagent relay tracking systems 10.1 Introduction 10.1.1 Finite time boundedness 10.1.2 Finite time coordination relay strategies 10.2 Stability analysis of nonlinear multiagent relay tracking systems over a finite time interval 10.2.1 Relay tracking problem formulation 10.2.2 Stability analysis over a finite time interval 10.2.3 Stability analysis for systems subject to disturbances 10.2.4 Numerical examples 10.3 Finite-time coordination control of multiagent systems for target tracking with node failures and active replacements 10.3.1 Tracking problem description and fundamentals 10.3.2 Event-triggered coordination strategy 10.3.3 Nonsingular terminal sliding mode controller design 10.3.4 Finite time analysis with modified sliding mode control 10.3.5 Stability analysis of systems with agent replacements 10.3.6 Numerical simulations 10.4 Conclusion References Further reading 11 Conclusions and future research 11.1 Conclusions 11.1.1 Consensus tracking control of systems with continuously switching topologies 11.1.2 Relay tracking control of systems with agent replacements 11.2 Future research 11.2.1 General nonlinear multiagent systems 11.2.2 Cooperative control algorithms based on deep learning References Appendix A A.1 Notations A.2 Assumptions and lemmas References Index Back Cover