Download or read book Distributed Tracking Algorithms for Multi agent Systems to Solve the Leader follower Flocking of Lagrange Networks and Dynamic Average Tracking Problem of Second order Systems written by Sheida Ghapani and published by . This book was released on 2016 with total page 93 pages. Available in PDF, EPUB and Kindle. Book excerpt: The dissertation provides a rigorous stability analysis of the introduced control algorithms for both issues and presents simulations that validate the effectiveness of the proposed algorithms.
Download or read book Distributed Average Tracking in Multi agent Systems written by Fei Chen and published by Springer Nature. This book was released on 2020-02-04 with total page 240 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Distributed Optimization in Multi agent Systems written by Salar Rahili and published by . This book was released on 2016 with total page 125 pages. Available in PDF, EPUB and Kindle. Book excerpt: In last part of this dissertation, the distributed average tracking problem is addressed for a group of heterogeneous physical agents consisting of single-integrator, double-integrator and Euler-Lagrange dynamics. Here, the goal is that each agent uses local information and local interaction to calculate the average of individual time-varying reference inputs, one per agent. Dynamic average tracking is the main challenge in many other distributed algorithms, such as distributed optimization, and distributed Kalman filtering.
Download or read book Cooperative Control of Multi Agent Systems written by Frank L. Lewis and published by Springer Science & Business Media. This book was released on 2013-12-31 with total page 315 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Consensus and Synchronization in Complex Networks written by Ljupco Kocarev and published by Springer. This book was released on 2013-01-18 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book for the first time two scientific fields - consensus formation and synchronization of communications - are presented together and examined through their interrelational aspects, of rapidly growing importance. Both fields have indeed attracted enormous research interest especially in relation to complex networks. In networks of dynamic systems (or agents), consensus means to reach an agreement regarding a certain quantity of interest that depends on the state of all dynamical systems (agents). Consensus problems have a long history in control theory and computer sciences, and form the foundation of the field of distributed computing. Synchronization, which defines correlated-in-time behavior between different processes and roots going back to Huygens to the least, is now a highly popular, exciting and rapidly developing topic, with applications ranging from biological networks to mathematical epidemiology, and from processing information in the brain to engineering of communications devices. The book reviews recent finding in both fields and describes novel approaches to consensus formation, where consensus is realized as an instance of the nonlinear dynamics paradigm of chaos synchronization. The chapters are written by world-known experts in both fields and cover topics ranging from fundaments to various applications of consensus and synchronization.
Download or read book Fast Finite time Consensus Tracking for First order Multi agent Systems with Unmodelled Dynamics and Disturbances written by and published by . This book was released on with total page 6 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this paper, we study fast finite-time consensus tracking problem for a class of first-order multi-agent systems with unmodelled dynamics and unknown disturbances. A continuous control law is proposed to guarantee fast finite-time consensus tracking of a desired signal despite of uncertainties and disturbances in the system dynamics. Sufficient conditions for finite-time consensus tracking are established by using Lyapunov analysis methods. A numerical example is provided to show the effectiveness of the proposed algorithm.
Download or read book Event Triggered Sliding Mode Control written by Bijnan Bandyopadhyay and published by Springer. This book was released on 2018-02-20 with total page 139 pages. Available in PDF, EPUB and Kindle. Book excerpt: This edited monograph provides a comprehensive and in-depth analysis of sliding mode control, focusing on event-triggered implementation. The technique allows to prefix the steady-state bounds of the system, and this is independent of any boundary disturbances. The idea of event-triggered SMC is developed for both single input / single output and multi-input / multi-output linear systems. Moreover, the reader learns how to apply this method to nonlinear systems. The book primarily addresses research experts in the field of sliding mode control, but the book may also be beneficial for graduate students.
Download or read book Learning in Cooperative Multi Agent Systems written by Thomas Gabel and published by Sudwestdeutscher Verlag Fur Hochschulschriften AG. This book was released on 2009-09 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt: In a distributed system, a number of individually acting agents coexist. In order to achieve a common goal, coordinated cooperation between the agents is crucial. Many real-world applications are well-suited to be formulated in terms of spatially or functionally distributed entities. Job-shop scheduling represents one such application. Multi-agent reinforcement learning (RL) methods allow for automatically acquiring cooperative policies based solely on a specification of the desired joint behavior of the whole system. However, the decentralization of the control and observation of the system among independent agents has a significant impact on problem complexity. The author Thomas Gabel addresses the intricacy of learning and acting in multi-agent systems by two complementary approaches. He identifies a subclass of general decentralized decision-making problems that features provably reduced complexity. Moreover, he presents various novel model-free multi-agent RL algorithms that are capable of quickly obtaining approximate solutions in the vicinity of the optimum. All algorithms proposed are evaluated in the scope of various established scheduling benchmark problems.
Download or read book On the Control of Multi Agent Systems written by Fei Chen and published by . This book was released on 2019-07-31 with total page 176 pages. Available in PDF, EPUB and Kindle. Book excerpt: Multi-Agent Systems (MAS) use networked multiple autonomous agents to accomplish complex tasks in areas such as space-based applications, smart grids, and machine learning. The overall system goal is achieved using local interactions among the agents. The last two decades have witnessed rapid development of MASs in automatic control. Tracing the roots of such systems back more than 50 years, this monograph provides the reader with an in-depth and comprehensive survey of the research in Multi-Agent Systems. The focus is on the research conducted in the two decades. It introduces the basic concepts and definitions to the reader before going on to describe how MAS has been used in most forms of systems. The monograph offers a concise reference for understanding the use of MASs and the contemporary research issues for further investigation. In addition to covering the basic theory, the authors also cover applications in multi-robot systems, sensor networks, smart grid, machine learning, social networks, and many-core microprocessors. On the Control of Multi-Agent Systems provides researchers and students in systems and control a modern, comprehensive survey of one of the most important current day topics.
Download or read book Synchronous Reinforcement Learning Based Control for Cognitive Autonomy written by Kyriakos G. Vamvoudakis and published by . This book was released on 2020-11-12 with total page 188 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph describes the use of principles of reinforcement learning (RL) to design feedback policies for continuous-time dynamical systems that combine features of adaptive control and optimal control. In a control engineering context, RL bridges the gap between traditional optimal control and adaptive control algorithms.The authors give an insightful introduction to reinforcement learning techniques that can address various control problems. In this context, they give a detailed description of techniques such as Game-Theoretic Learning, Q-learning, and Intermittent RL; with each chapter providing a self-contained exposition of the topic and giving the reader suggestions for further reading. Finally, the authors demonstrate the application of the techniques in autonomous vehicles.This review of a topic that is rapidly becoming ubiquitous in many engineering systems enables to reader dip in and out of the topic to quickly understand the essentials and provides the starting point for further research.
Download or read book Intelligent Robotics and Applications written by Zhiyong Chen and published by Springer. This book was released on 2018-08-02 with total page 501 pages. Available in PDF, EPUB and Kindle. Book excerpt: The two volume set LNAI 10984 and LNAI 10985 constitutes the refereed proceedings of the 11th International Conference on Intelligent Robotics and Applications, ICIRA 2018, held in Newcastle, NSW, Australia, in August 2018. The 81 papers presented in the two volumes were carefully reviewed and selected from 129 submissions. The papers in the first volume of the set are organized in topical sections on multi-agent systems and distributed control; human-machine interaction; rehabilitation robotics; sensors and actuators; and industrial robot and robot manufacturing. The papers in the second volume of the set are organized in topical sections on robot grasping and control; mobile robotics and path planning; robotic vision, recognition and reconstruction; and robot intelligence and learning.
Download or read book Nonlinear Systems and Applications written by V. Lakshmikantham and published by . This book was released on 1977 with total page 728 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nonlinear Systems and Applications ...
Download or read book Networking Humans Robots and Environments written by Nak Y. Chong and published by Bentham Science Publishers. This book was released on 2013-09-26 with total page 255 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book dives into the heart of how to design distributed control architectures for heterogeneous teams of humans, robots, and automated systems, enabling them to achieve greater cooperation and autonomy through the use of network technologies. It provides a wide range of practical, proven strategies for pervasive communication and collaborative problem solving abilities of humans, robots, and their environments. Each chapter consists of a presentation of findings from the latest research in networked robots and ambient intelligence. The chapters also detail how to allow robots to achieve universal access to the extended functionality of the environment that brings various cost effective services to those in need. Readers can envision a realistic view of what can be expected from a networked human robot cooperative environment in the next decade.
Download or read book Nonlinear and Optimal Control Theory written by Andrei A. Agrachev and published by Springer. This book was released on 2008-06-24 with total page 368 pages. Available in PDF, EPUB and Kindle. Book excerpt: The lectures gathered in this volume present some of the different aspects of Mathematical Control Theory. Adopting the point of view of Geometric Control Theory and of Nonlinear Control Theory, the lectures focus on some aspects of the Optimization and Control of nonlinear, not necessarily smooth, dynamical systems. Specifically, three of the five lectures discuss respectively: logic-based switching control, sliding mode control and the input to the state stability paradigm for the control and stability of nonlinear systems. The remaining two lectures are devoted to Optimal Control: one investigates the connections between Optimal Control Theory, Dynamical Systems and Differential Geometry, while the second presents a very general version, in a non-smooth context, of the Pontryagin Maximum Principle. The arguments of the whole volume are self-contained and are directed to everyone working in Control Theory. They offer a sound presentation of the methods employed in the control and optimization of nonlinear dynamical systems.
Download or read book Advanced Technologies for Solar Photovoltaics Energy Systems written by Saad Motahhir and published by Springer Nature. This book was released on 2021-04-26 with total page 600 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a detailed description, analysis, comparison of the latest research and developments in photovoltaic energy. Discussing everything from semiconductors to system integration, and applying various advanced technologies to stand alone and electric utility interfaced in normal and abnormal operating conditions of PV systems, this book provides a thorough introduction to the topic. This book brings together research from around the world, covering the use of technologies such as embedded systems, the Internet of things and blockchain technologies for PV systems for different applications including controllers, solar trackers and cooling systems. The book is of interest to electronic and mechanical engineers, researchers and students in the field of photovoltaics.
Download or read book Robot Motion Planning written by Jean-Claude Latombe and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 668 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the ultimate goals in Robotics is to create autonomous robots. Such robots will accept high-level descriptions of tasks and will execute them without further human intervention. The input descriptions will specify what the user wants done rather than how to do it. The robots will be any kind of versatile mechanical device equipped with actuators and sensors under the control of a computing system. Making progress toward autonomous robots is of major practical inter est in a wide variety of application domains including manufacturing, construction, waste management, space exploration, undersea work, as sistance for the disabled, and medical surgery. It is also of great technical interest, especially for Computer Science, because it raises challenging and rich computational issues from which new concepts of broad useful ness are likely to emerge. Developing the technologies necessary for autonomous robots is a formidable undertaking with deep interweaved ramifications in auto mated reasoning, perception and control. It raises many important prob lems. One of them - motion planning - is the central theme of this book. It can be loosely stated as follows: How can a robot decide what motions to perform in order to achieve goal arrangements of physical objects? This capability is eminently necessary since, by definition, a robot accomplishes tasks by moving in the real world. The minimum one would expect from an autonomous robot is the ability to plan its x Preface own motions.
Download or read book Formation Control written by Hyo-Sung Ahn and published by Springer. This book was released on 2019-03-29 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph introduces recent developments in formation control of distributed-agent systems. Eschewing the traditional concern with the dynamic characteristics of individual agents, the book proposes a treatment that studies the formation control problem in terms of interactions among agents including factors such as sensing topology, communication and actuation topologies, and computations. Keeping pace with recent technological advancements in control, communications, sensing and computation that have begun to bring the applications of distributed-systems theory out of the industrial sphere and into that of day-to-day life, this monograph provides distributed control algorithms for a group of agents that may behave together. Unlike traditional control laws that usually require measurements with respect to a global coordinate frame and communications between a centralized operation center and agents, this book provides control laws that require only relative measurements and communications between agents without interaction with a centralized operator. Since the control algorithms presented in this book do not require any global sensing and any information exchanges with a centralized operation center, they can be realized in a fully distributed way, which significantly reduces the operation and implementation costs of a group of agents. Formation Control will give both students and researchers interested in pursuing this field a good grounding on which to base their work.
