Distributed Cooperative Control of Multi-agent Systems

Preface ix 1 Introduction 1 1.1 Background 1 1.1.1 Networked Multi-agent Systems 1 1.1.2 Collective Behaviors and Cooperative Control in Multi-agent Systems 2 1.1.3 Network Control in Multi-agent Systems 4 1.1.4 Distributed Consensus Filtering in Sensor Networks 5 1.2 Organization 6 2 Consensus in Multi-agent Systems 11 2.1 Consensus in Linear Multi-agent Systems 11 2.1.1 Preliminaries 11 2.1.2 Model Formulation and Results 13 2.2 Consensus in Nonlinear Multi-agent Systems 15 2.2.1 Preliminaries and Model Formulation 15 2.2.2 Local Consensus of Multi-agent Systems 16 2.2.3 Global Consensus of Multi-agent Systems in General Networks 19 2.2.4 Global Consensus of Multi-agent Systems in Virtual Networks 26 2.2.5 Simulation Examples 29 2.3 Notes 30 3 Second-Order Consensus in Multi-agent Systems 31 3.1 Second-Order Consensus in Linear Multi-agent Systems 32 3.1.1 Model Formulation 32 3.1.2 Second-Order Consensus in Directed Networks 33 3.1.3 Second-Order Consensus in Delayed Directed Networks 37 3.1.4 Simulation Examples 41 3.2 Second-Order Consensus in Nonlinear Multi-agent Systems 42 3.2.1 Preliminaries 42 3.2.2 Second-Order Consensus in Strongly Connected Networks 45 3.2.3 Second-Order Consensus in Rooted Networks 50 3.2.4 Simulation Examples 53 3.3 Notes 54 4 Higher-Order Consensus in Multi-agent Systems 56 4.1 Preliminaries 56 4.2 Higher-Order Consensus in a General Form 58 4.2.1 Synchronization in Complex Networks 58 4.2.2 Higher-Order Consensus in a General Form 59 4.2.3 Consensus Region in Higher-Order Consensus 60 4.3 Leader-Follower Control in Multi-agent Systems 64 4.3.1 Leader-Follower Control in Multi-agent Systems with Full-State Feedback 65 4.3.2 Leader-Follower Control with Observers 67 4.4 Simulation Examples 69 4.4.1 Consensus Regions 69 4.4.2 Leader-Follower Control with Full-State Feedback 70 4.4.3 Leader-Follower Control with Observers 70 4.5 Notes 71 5 Stability Analysis of Swarming Behaviors 73 5.1 Preliminaries 73 5.2 Analysis of Swarm Cohesion 76 5.3 Swarm Cohesion in a Noisy Environment 80 5.4 Cohesion in Swarms with Switched Topologies 82 5.5 Cohesion in Swarms with Changing Topologies 84 5.6 Simulation Examples 93 5.7 Notes 95 6 Distributed Leader-Follower Flocking Control 96 6.1 Preliminaries 96 6.1.1 Model Formulation 97 6.1.2 Nonsmooth Analysis 99 6.2 Distributed Leader-Follower Control with Pinning Observers 103 6.3 Simulation Examples 110 6.4 Notes 114 7 Consensus of Multi-agent Systems with Sampled Data Information 115 7.1 Problem Statement 116 7.2 Second-Order Consensus of Multi-agent Systems with Sampled Full Information 117 7.2.1 Second-Order Consensus of Multi-agent Systems with Sampled Full Information 119 7.2.2 Selection of Sampling Periods 122 7.2.3 Design of Coupling Gains 123 7.2.4 Consensus Region for the Network Spectrum 125 7.2.5 Second-Order Consensus in Delayed Undirected Networks with Sampled Position and Velocity Data 125 7.2.6 Simulation Examples 128 7.3 Second-Order Consensus of Multi-agent Systems with Sampled Position Information 132 7.3.1 Second-Order Consensus in Multi-agent Dynamical Systems with Sampled Position Data 132 7.3.2 Simulation Examples 139 7.4 Consensus of Multi-agent Systems with Nonlinear Dynamics and Sampled Information 142 7.4.1 The Case with a Fixed and Strongly Connected Topology 145 7.4.2 The Case with Topology Containing a Directed Spanning Tree 149 7.4.3 The Case with Topology Having no Directed Spanning Tree 155 7.5 Notes 158 8 Consensus of Second-Order Multi-agent Systems with Intermittent Communication 159 8.1 Problem Statement 159 8.2 The Case with a Strongly Connected Topology 161 8.3 The Case with a Topology Having a Directed Spanning Tree 165 8.4 Consensus of Second-Order Multi-agent Systems with Nonlinear Dynamics and Intermittent Communication 167 8.5 Notes 172 9 Distributed Adaptive Control of Multi-agent Systems 174 9.1 Distributed Adaptive Control in Complex Networks 175 9.1.1 Preliminaries 175 9.1.2 Distributed Adaptive Control in Complex Networks 176 9.1.3 Pinning Edges Control 178 9.1.4 Simulation Examples 181 9.2 Distributed Control Gains Design for Second-Order Consensus in Nonlinear Multi-agent Systems 183 9.2.1 Preliminaries 184 9.2.2 Distributed Control Gains Design: Leaderless Case 186 9.2.3 Distributed Control Gains Design: Leader-Follower Case 190 9.2.4 Simulation Examples 194 9.3 Notes 196 10 Distributed Consensus Filtering in Sensor Networks 198 10.1 Preliminaries 199 10.2 Distributed Consensus Filters Design for Sensor Networks with Fully-Pinned Controllers 201 10.3 Distributed Consensus Filters Design for Sensor Networks with Pinning Controllers 205 10.4 Distributed Consensus Filters Design for Sensor Networks with Pinning Observers 207 10.5 Simulation Examples 210 10.6 Notes 213 11 Delay-Induced Consensus and Quasi-Consensus in Multi-agent Systems 214 11.1 Problem Statement 214 11.2 Delay-Induced Consensus and Quasi-Consensus in Multi-agent Dynamical Systems 217 11.3 Motivation for Quasi-Consensus Analysis 223 11.4 Simulation Examples 224 11.5 Notes 228 12 Conclusions and FutureWork 229 12.1 Conclusions 229 12.2 Future Work 230 Bibliography 232 Index 241

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• Engenharia do controlo automático