formation-control-of-multi-agent-systems

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Formation Control Of Multi Agent Systems

Author : Marcio de Queiroz
ISBN : 9781118887448
Genre : Technology & Engineering
File Size : 81. 52 MB
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Uses the concept of graph rigidity as the basis for describing the multi-agent formation geometry and solving formation control problems. Considers different agent models and formation control problems. Control designs throughout the book progressively build upon each other. Provides a primer on rigid graph theory. Combines theory, computer simulations, and experimental results Market description: Primary: Researchers and practitioners working in the areas of control systems, robotics and multi-agent systems. Secondary: Graduate students in control systems, robotics, and multi-agent systems"--

Distributed Formation Control Of Multi Agent Systems

Author : Junyan Hu
ISBN : OCLC:1197753540
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File Size : 38. 87 MB
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Formation Control Of Multi Agent Systems By Using Rigid Graphs

Author : Pengpeng Zhang
ISBN : OCLC:1103923092
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File Size : 25. 98 MB
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Decentralized Formation Control For Multi Agent Systems

Author : Maria Carmela De Gennaro
ISBN : OCLC:1080494061
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Cooperative Coordination And Formation Control For Multi Agent Systems

Author : Zhiyong Sun
ISBN : 9783319742656
Genre : Technology & Engineering
File Size : 46. 81 MB
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The thesis presents new results on multi-agent formation control, focusing on the distributed stabilization control of rigid formation shapes. It analyzes a range of current research problems such as problems concerning the equilibrium and stability of formation control systems, or the problem of cooperative coordination control when agents have general dynamical models, and discusses practical considerations arising during the implementation of established formation control algorithms. In addition, the thesis presents models of increasing complexity, from single integrator models, to double integrator models, to agents modeled by nonlinear kinematic and dynamic equations, including the familiar unicycle model and nonlinear system equations with drift terms. Presenting the fruits of a close collaboration between several top control groups at leading universities including Yale University, Groningen University, Purdue University and Gwangju Institute of Science and Technology (GIST), the thesis spans various research areas, including robustness issues in formations, quantization-based coordination, exponential stability in formation systems, and cooperative coordination of networked heterogeneous systems.

Cooperative Control Of Multi Agent Systems

Author : Yue Wang
ISBN : 9781119266129
Genre : Technology & Engineering
File Size : 34. 79 MB
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A comprehensive review of the state of the art in the control of multi-agent systems theory and applications The superiority of multi-agent systems over single agents for the control of unmanned air, water and ground vehicles has been clearly demonstrated in a wide range of application areas. Their large-scale spatial distribution, robustness, high scalability and low cost enable multi-agent systems to achieve tasks that could not successfully be performed by even the most sophisticated single agent systems. Cooperative Control of Multi-Agent Systems: Theory and Applications provides a wide-ranging review of the latest developments in the cooperative control of multi-agent systems theory and applications. The applications described are mainly in the areas of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). Throughout, the authors link basic theory to multi-agent cooperative control practice — illustrated within the context of highly-realistic scenarios of high-level missions — without losing site of the mathematical background needed to provide performance guarantees under general working conditions. Many of the problems and solutions considered involve combinations of both types of vehicles. Topics explored include target assignment, target tracking, consensus, stochastic game theory-based framework, event-triggered control, topology design and identification, coordination under uncertainty and coverage control. Establishes a bridge between fundamental cooperative control theory and specific problems of interest in a wide range of applications areas Includes example applications from the fields of space exploration, radiation shielding, site clearance, tracking/classification, surveillance, search-and-rescue and more Features detailed presentations of specific algorithms and application frameworks with relevant commercial and military applications Provides a comprehensive look at the latest developments in this rapidly evolving field, while offering informed speculation on future directions for collective control systems The use of multi-agent system technologies in both everyday commercial use and national defense is certain to increase tremendously in the years ahead, making this book a valuable resource for researchers, engineers, and applied mathematicians working in systems and controls, as well as advanced undergraduates and graduate students interested in those areas.

A Survey Of Multi Agent Formation Control

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ISBN : OCLC:1051979650
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File Size : 83. 91 MB
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Abstract: We present a survey of formation control of multi-agent systems. Focusing on the sensing capability and the interaction topology of agents, we categorize the existing results into position-, displacement-, and distance-based control. We then summarize problem formulations, discuss distinctions, and review recent results of the formation control schemes. Further we review some other results that do not fit into the categorization.

Cooperative Control Of Multi Agent Systems

Author : Anokina Shalimoon
ISBN : OCLC:1223541373
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File Size : 86. 27 MB
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This graduate project focuses on various algorithms within subject of cooperative control of multi-agent systems. It begins with background information on graph theory and mathematical preliminaries utilized in multi-agent systems, and explains consensus, flocking, and formation algorithms in theoretical details and via simulations. Consensus algorithm is described for both continuous and discrete-time with mathematical examples; Flocking algorithm based on Craig Reynolds’ rule is presented in terms of collision avoidance, velocity matching and flock centering. Formation control algorithm is studied in theoretical details and software simulations, with emphasis on generating pre-defined formations by examining feedback gains. Throughout this project, MATLAB simulations are conducted to illustrate each of the above three algorithms. For consensus algorithms, consensus convergence rates are compared for undirected versus directed networks. For flocking algorithms, behaviors of multi-agent systems are analyzed using Reynolds’ rule. To conclude, formation control algorithm is examined to obtain desired shapes starting at a random state by varying feedback gains.

Cooperative Control Of Multi Agent Systems

Author : Zhongkui Li
ISBN : 9781466569973
Genre : Computers
File Size : 79. 95 MB
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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 multiple leaders Covers the robust cooperative control problem for multi-agent systems with linear nominal agent dynamics subject to heterogeneous matching uncertainties Discusses the global consensus problem for Lipschitz nonlinear multi-agent systems Cooperative Control of Multi-Agent Systems: A Consensus Region Approach provides a novel approach to designing distributed cooperative protocols for multi-agent systems with complex dynamics. The proposed consensus region decouples the design of the feedback gain matrices of the cooperative protocols from the communication graph and serves as a measure for the robustness of the protocols to variations of the communication graph. By exploiting the decoupling feature, adaptive cooperative protocols are presented that can be designed and implemented in a fully distributed fashion.

Synchronization And Control Of Multiagent Systems

Author : Dong Sun
ISBN : 1439820481
Genre : Computers
File Size : 39. 9 MB
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Multiple intelligent agent systems are commonly used in research requiring complex behavior. Synchronization control provides an advantage in solving the problem of multi-agent coordination. This book focuses on the use of synchronization control to coordinate the group behavior of multiple agents. The author includes numerous real-world applicatio

Formation Control Of Nonholonomic Multi Agent Systems

Author : Milad Khaledyan
ISBN : OCLC:1104209972
Genre :
File Size : 42. 29 MB
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Flight Formation Control

Author : Josep Guerrero
ISBN : 9781118563229
Genre : Technology & Engineering
File Size : 69. 27 MB
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In the last decade the development and control of UnmannedAerial Vehicles (UAVs) has attracted a lot of interest. Bothresearchers and companies have a growing interest in improving thistype of vehicle given their many civilian and militaryapplications. This book presents the state of the art in the area of UAV FlightFormation. The coordination and robust consensus approaches arepresented in detail as well as formation flight control strategieswhich are validated in experimental platforms. It aims at helpingstudents and academics alike to better understand what coordinationand flight formation control can make possible. Several novel methods are presented: - controllability and observability of multi-agent systems; - robust consensus; - flight formation control; - stability of formations over noisy networks; which generate solutions of guaranteed performance for UAV FlightFormation. Contents 1. Introduction, J.A. Guerrero. 2. Theoretical Preliminaries, J.A. Guerrero. 3. Multiagent Coordination Strategies, J.A. Guerrero, R. Lozano,M.W. Spong, N. Chopra. 4. Robust Control Design for Multiagent Systems with ParametricUncertainty, J.A. Guerrero, G. Romero. 5. On Adaptive and Robust Controlled Synchronization of NetworkedRobotic Systems on Strongly Connected Graphs, Y.-C. Liu, N.Chopra. 6. Modeling and Control of Mini UAV, G. Flores Colunga, J.A.Guerrero, J. Escareño, R. Lozano. 7. Flight Formation Control Strategies for Mini UAVs, J.A.Guerrero. 8. Formation Based on Potential Functions, L. García, A.Dzul. 9. Quadrotor Vision-Based Control, J.E. Gomez-Balderas, J.A.Guerrero, S. SALAZAR, R. Lozano, P. Castillo. 10. Toward Vision-Based Coordination of Quadrotor Platoons, L.R.García Carrillo, J.A. Guerrero, R. Lozano. 11. Optimal Guidance for Rotorcraft Platoon Formation Flying inWind Fields, J.A. Guerrero, Y. Bestaoui, R. Lozano. 12. Impact of Wireless Medium Access Protocol on the QuadrotorFormation Control, J.A. Guerrero, Y. Challal, P. Castillo. 13. MAC Protocol for Wireless Communications, A. Mendez, M.Panduro, O. Elizarraras, D. Covarrubias. 14. Optimization of a Scannable Pattern for Bidimensional AntennaArrays to Provide Maximum Performance, A. Reyna, M.A. Panduro, A.Mendez.

Cooperative Control Of Multi Agent Systems

Author : Jianan Wang
ISBN : 9780128204450
Genre : Computers
File Size : 75. 92 MB
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Cooperative Control of Multi-Agent Systems: An Optimal and Robust Perspective reports and encourages technology transfer in the field of cooperative control of multi-agent systems. The book deals with UGVs, UAVs, UUVs and spacecraft, and more. It presents an extended exposition of the authors’ recent work on all aspects of multi-agent technology. Modelling and cooperative control of multi-agent systems are topics of great interest, across both academia (research and education) and industry (for real applications and end-users). Graduate students and researchers from a wide spectrum of specialties in electrical, mechanical or aerospace engineering fields will use this book as a key resource. Helps shape the reader's understanding of optimal and robust cooperative control design techniques for multi-agent systems Presents new theoretical control challenges and investigates unresolved/open problems Explores future research trends in multi-agent systems Offers a certain amount of analytical mathematics, practical numerical procedures, and actual implementations of some proposed approaches

Analysis And Design Of Hybrid Systems 2003 Adhs 03

Author : Sebastian Engell
ISBN : 0080440940
Genre : Technology & Engineering
File Size : 71. 46 MB
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Before the Riders came to their remote valley the Yendri led a tranquil pastoral life. When the Riders conquered and enslaved them, only a few escaped to the forests. Rebellion wasn't the Yendri way; they hid, or passively resisted, taking consolation in the prophecies of their spiritual leader. Only one possessed the necessary rage to fight back: Gard the foundling, half-demon, who began a one-man guerrilla war against the Riders. His struggle ended in the loss of the family he loved, and condemnation from his own people. Exiled, he was taken as a slave by powerful mages ruling an underground kingdom. Bitterer and wiser, he found more subtle ways to earn his freedom. This is the story of his rise to power, his vengeance, his unlikely redemption and his maturation into a loving father--as well as a lord and commander of demon armies. Kage Baker, author of the popular and witty fantasy, The Anvil of the World, returns to that magical world for another story of love, adventure, and a fair bit of ironic humor. At the publisher's request, this title is being sold without Digital Rights Management software (DRM) applied.

Progress In Artificial Intelligence

Author : Luis Miguel Correia
ISBN : 9783642406690
Genre : Computers
File Size : 39. 19 MB
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This book constitutes the refereed proceedings of the 16th Portuguese Conference on Artificial Intelligence, EPIA 2013, held in Angra do Heroísmo, Azores, Portugal, in September 2013. The 45 revised full papers presented were carefully reviewed and selected from a total of 157 submissions. The papers are organized in the following topical sections: ambient intelligence and affective environments; artificial intelligence in transportation systems; artificial life and evolutionary algorithms; computational methods in bioinformatics and systems biology; general artificial intelligence; intelligent robotics; knowledge discovery and business intelligence; multi-agent systems: theory and applications; social simulation and modeling; and text mining and applications.

Distributed Average Tracking In Multi Agent Systems

Author : Fei Chen
ISBN : 9783030395360
Genre : Technology & Engineering
File Size : 89. 66 MB
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This book presents a systematic study of an emerging field in the development of multi-agent systems. In a wide spectrum of applications, it is now common to see that multiple agents work cooperatively to accomplish a complex task. The book assists the implementation of such applications by promoting the ability of multi-agent systems to track — using local communication only — the mean value of signals of interest, even when these change rapidly with time and when no individual agent has direct access to the average signal across the whole team; for example, when a better estimation/control performance of multi-robot systems has to be guaranteed, it is desirable for each robot to compute or track the averaged changing measurements of all the robots at any time by communicating with only local neighboring robots. The book covers three factors in successful distributed average tracking: algorithm design via nonsmooth and extended PI control; distributed average tracking for double-integrator, general-linear, Euler–Lagrange, and input-saturated dynamics; and applications in dynamic region-following formation control and distributed convex optimization. The book presents both the theory and applications in a general but self-contained manner, making it easy to follow for newcomers to the topic. The content presented fosters research advances in distributed average tracking and inspires future research directions in the field in academia and industry.

Truncated Predictor Feedback For Time Delay Systems

Author : Bin Zhou
ISBN : 9783642542060
Genre : Technology & Engineering
File Size : 69. 16 MB
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This book provides a systematic approach to the design of predictor based controllers for (time-varying) linear systems with either (time-varying) input or state delays. Differently from those traditional predictor based controllers, which are infinite-dimensional static feedback laws and may cause difficulties in their practical implementation, this book develops a truncated predictor feedback (TPF) which involves only finite dimensional static state feedback. Features and topics: A novel approach referred to as truncated predictor feedback for the stabilization of (time-varying) time-delay systems in both the continuous-time setting and the discrete-time setting is built systematically Semi-global and global stabilization problems of linear time-delay systems subject to either magnitude saturation or energy constraints are solved in a systematic manner Both stabilization of a single system and consensus of a group of systems (multi-agent systems) are treated in a unified manner by applying the truncated predictor feedback and predictor feedback The properties of the solutions to a class of parametric (differential and difference) Lyapunov matrix equations are presented in detail Detailed numerical examples and applications to the spacecraft rendezvous and formation flying problems are provided to demonstrate the usefulness of the presented theoretical results This book can be a useful resource for the researchers, engineers, and graduate students in the fields of control, applied mathematics, mechanical engineering, electrical engineering, and aerospace engineering.

Icmas 95 First International Conference On Multi Agent Systems

Author : Victor Lesser
ISBN : 0262621029
Genre : Computers
File Size : 46. 11 MB
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June 12-14, 1995, San Francisco The first international conference on multiagent systems is organized as a joint effort of the North American Distributed Artificial Intelligence community, the Japanese Multiagent and Cooperative Computing community, and the European Modeling Autonomous Agents in a Multiagent World community, with support from AAAI and sanctioned by ECCAI. The Proceedings cover a broad spectrum of perspectives including artificial life, communications issues, and negotiation strategies. Topics cover: * Agent Architectures * Artificial Life (from a multiagent perspective) * Believable Agents * Cooperation, Coordination, and Conflict * Communcation Issues * Conceptual and Theoretical Foundations of Multiagent Systems * Development and Engineering Methodologies * Distributed Artificial Intelligence * Distributed Consensus and Algorithms for Multiagent Interaction * Distributed Search * Evaluation of Multiagent Systems * Integrated Testbeds and Development Environments * Intelligent Agents in Enterprise Integration Systems and Similar Types of Applications * Learning and Adaptation in Multiagent Systems * Multiagent Cooperative Reasoning from Distributed Heterogeneous Databases * Multiagent Planning and Planning for Multiagent Worlds * Negotiation Strategies (in both competitive and cooperative situations) * Organization, Organizational Knowledge, and Organization Self-Design * Practical Applications of Multiagent Systems (enterprises, robotics, sensing, manufacturing) * Resource Allocation in Multiagent Systems * Social Structures and their Signfiicance in Multiagent Systems * User Interface Issues for Multiagent Systems. Distributed for AAAI Press

Cooperative Control Of Multi Agent Systems

Author : Frank L. Lewis
ISBN : 9781447155744
Genre : Technology & Engineering
File Size : 70. 22 MB
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Cooperative Control of Multi-Agent Systems extends optimal control and adaptive control design methods to multi-agent systems on communication graphs. It develops Riccati design techniques for general linear dynamics for cooperative state feedback design, cooperative observer design, and cooperative dynamic output feedback design. Both continuous-time and discrete-time dynamical multi-agent systems are treated. Optimal cooperative control is introduced and neural adaptive design techniques for multi-agent nonlinear systems with unknown dynamics, which are rarely treated in literature are developed. Results spanning systems with first-, second- and on up to general high-order nonlinear dynamics are presented. Each control methodology proposed is developed by rigorous proofs. All algorithms are justified by simulation examples. The text is self-contained and will serve as an excellent comprehensive source of information for researchers and graduate students working with multi-agent systems.

Proceedings Of The 2005 American Control Conference Acc

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ISBN : 0780390989
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