Distributed Coordination of Multi-agent Networks: Emergent Problems, Models, and Issues

Cover......Page 1
Communications and Control Engineering......Page 2
Distributed
Coordination
of Multi-agent
Networks......Page 4
ISBN 9780857291684......Page 5
Preface......Page 8
Acknowledgements......Page 10
Contents......Page 14
Part I
Preliminaries and Literature Review......Page 20
Notations......Page 22
Algebraic Graph Theory Background......Page 24
Algebra and Matrix Theory Background......Page 28
Linear and Nonlinear System Theory Background......Page 32
Nonsmooth Analysis Background......Page 36
Time-delay System Theory Background......Page 38
Notes......Page 40
Introduction......Page 42
Consensus......Page 44
Delay Effect......Page 45
Stochastic Setting......Page 46
Complex Systems......Page 47
Finite-time Convergence......Page 48
Matrix Theory Approach......Page 49
Graph Rigidity Approach......Page 50
Matrix Theory Approach......Page 51
Other Approaches......Page 52
Controllability......Page 53
Global Cost Functions......Page 54
Coverage Control......Page 55
Scheduling......Page 56
Distributed Estimation and Control......Page 57
Pursuer-invader Problem......Page 58
Discussion......Page 59
Notes......Page 60
Part II
Emergent Problems in Distributed
Multi-agent Coordination......Page 62
Cartesian Coordinate Coupling......Page 64
Single-integrator Dynamics......Page 65
Double-integrator Dynamics......Page 70
Simulation......Page 79
Coupled Harmonic Oscillators......Page 81
Problem Statement......Page 82
Convergence Under Directed Fixed Interaction......Page 83
Convergence Under Directed Switching Interaction......Page 88
Application to Motion Coordination in Multi-agent Systems......Page 91
Notes......Page 93
Problem Statement......Page 96
Coordinated Tracking Under Fixed and Switching Interaction......Page 97
Swarm Tracking Under Switching Interaction......Page 102
Coordinated Tracking when the Leader's Velocity is Varying......Page 104
Coordinated Tracking when the Leader's Velocity is Constant......Page 110
Swarm Tracking when the Leader's Velocity is Constant......Page 111
Swarm Tracking when the Leader's Velocity is Varying......Page 112
Simulation......Page 115
Notes......Page 123
Problem Statement......Page 128
Directed Fixed Interaction......Page 130
Directed Switching Interaction......Page 132
Simulation......Page 139
Stability Analysis for Multiple Dynamic Leaders......Page 141
Directed Fixed Interaction......Page 142
Directed Switching Interaction......Page 146
Containment Control with Swarming Behavior......Page 151
Algorithm Design......Page 152
Analysis for Multiple Stationary Leaders......Page 154
Analysis for Multiple Dynamic Leaders......Page 156
Simulation......Page 160
Notes......Page 163
Part III
Emergent Models in Distributed
Multi-agent Coordination......Page 164
Problem Statement......Page 166
Distributed Leaderless Coordination for Networked Lagrangian Systems......Page 168
Fundamental Algorithm......Page 169
Nonlinear Algorithm......Page 171
Algorithm Accounting for Unavailability of Measurements of Generalized Coordinate Derivatives......Page 174
Simulation......Page 176
Distributed Coordinated Regulation and Tracking for Networked Lagrangian Systems......Page 180
Coordinated Regulation when the Leader's Vector of Generalized Coordinates is Constant......Page 181
Coordinated Tracking when the Leader's Vector of Generalized Coordinate Derivatives is Constant......Page 184
Model-dependent Coordinated Tracking Algorithm......Page 185
Coordinated Tracking Algorithm Accounting for Parametric Uncertainties......Page 190
Coordinated Tracking when the Leader's Vector of Generalized Coordinate Derivatives is Varying......Page 193
Simulation......Page 199
Notes......Page 200
Problem Statement......Page 204
Directed Fixed Interaction......Page 207
Directed Switching Interaction......Page 211
Simulation......Page 213
Absolute Damping......Page 216
Relative Damping......Page 218
Simulation......Page 221
Notes......Page 223
Part IV
Emergent Issues in Distributed
Multi-agent Coordination......Page 224
Sampled-data Coordinated Tracking for Single-integrator Dynamics......Page 226
Algorithm Design......Page 227
Convergence Analysis of the Proportional-derivative-like Discrete-time Coordinated Tracking Algorithm......Page 228
Comparison Between the Proportional-like and Proportional-derivative-like Discrete-time Coordinated Tracking Algorithms......Page 232
Simulation......Page 234
Coordination Algorithms with Absolute and Relative Damping......Page 236
Convergence Analysis of the Sampled-data Coordination Algorithm with Absolute Damping......Page 237
Convergence Analysis of the Sampled-data Coordination Algorithm with Relative Damping......Page 243
Simulation......Page 247
Sampled-data Coordination for Double-integrator Dynamics Under Switching Interaction......Page 249
Convergence Analysis of the Sampled-data Coordination Algorithm with Absolute Damping......Page 250
Convergence Analysis of the Sampled-data Coordination Algorithm with Relative Damping......Page 253
Simulation......Page 256
Notes......Page 259
Problem Statement......Page 260
Optimal Linear Coordination Algorithms in a Continuous-time Setting from a Linear Quadratic Regulator Perspective......Page 262
Optimal State Feedback Gain Matrix Using the Interaction-free Cost Function......Page 263
Optimal Scaling Factor Using the Interaction-related Cost Function......Page 266
Illustrative Examples......Page 269
Optimal State Feedback Gain Matrix Using the Interaction-free Cost Function......Page 270
Optimal Scaling Factor Using the Interaction-related Cost Function......Page 278
Illustrative Examples......Page 279
Notes......Page 280
Problem Statement......Page 282
Leaderless Coordination......Page 283
Coordinated Regulation when the Leader's Position is Constant......Page 287
Coordinated Tracking with Full Access to the Leader's Velocity......Page 289
Coordinated Tracking with Partial Access to the Leader's Velocity......Page 292
Leaderless Coordination......Page 293
Coordinated Tracking when the Leader's Velocity is Constant......Page 296
Coordinated Tracking with Full Access to the Leader's Acceleration......Page 299
Coordinated Tracking with Partial Access to the Leader's Acceleration......Page 301
Simulation......Page 303
Notes......Page 306
References......Page 310
Index......Page 324