In the context of coupled-coordination control mechanisms, this book focuses on the delay robustness of consensus problems with asynchronously coupled and synchronously coupled consensus algorithms respectively. Moreover, constructive consensus algorithms that tolerate larger communication delays are proposed according to idea of compensation. By providing rigorous theoretical proofs and numerous numerical simulations, it enhances readers’ understanding of the consensus coordination control mechanism of multi-agent systems with communication delays.
|
|
|
1 | (12) |
|
1.1 Collective Behavior Under Distributed Coordination Control |
|
|
1 | (1) |
|
1.2 Topology Description of Interconnection Structure |
|
|
2 | (1) |
|
1.3 Consensus Tracking of Multi-agent Systems |
|
|
3 | (4) |
|
1.4 Delay Effect on Consensus Seeking |
|
|
7 | (3) |
|
1.4.1 Communication Delay Effect |
|
|
7 | (2) |
|
|
|
9 | (1) |
|
|
|
10 | (3) |
|
|
|
10 | (3) |
|
2 Consensus of Homogeneous Multi-agent Systems with Time Delays |
|
|
13 | (32) |
|
|
|
13 | (1) |
|
2.2 Multiple First-Order Agents |
|
|
13 | (3) |
|
2.3 Multiple Second-Order Agents |
|
|
16 | (16) |
|
2.3.1 Stationary Consensus Algorithms with Time Delays |
|
|
17 | (6) |
|
2.3.2 Dynamical Consensus Algorithms with Time Delays |
|
|
23 | (9) |
|
2.4 Multiple Single-Input and Single-Output Linear Agents |
|
|
32 | (9) |
|
2.4.1 Agents' Dynamics Description |
|
|
32 | (2) |
|
2.4.2 Delay-Dependent Consensus Criterion |
|
|
34 | (4) |
|
2.4.3 Application to Second-Order Multi-agent Systems |
|
|
38 | (3) |
|
|
|
41 | (4) |
|
|
|
42 | (3) |
|
3 Consensus of Heterogeneous Multi-agent Systems with Time Delays |
|
|
45 | (34) |
|
|
|
45 | (1) |
|
3.2 Mixed System of First-Order and Second-Order Agents |
|
|
46 | (11) |
|
3.2.1 Stationary Consensus Seeking |
|
|
46 | (6) |
|
3.2.2 Dynamical Consensus Seeking |
|
|
52 | (5) |
|
3.3 Mixed System of Two-Class General Linear Dynamical Agents |
|
|
57 | (11) |
|
3.3.1 Mixed Agents' Dynamics |
|
|
57 | (2) |
|
3.3.2 Consensus Criterion for Linear Dynamic Agents |
|
|
59 | (7) |
|
3.3.3 Discussion for First-Order and Second-Order Agents |
|
|
66 | (2) |
|
3.4 Heterogeneous General Linear First-Order Multi-agent Systems |
|
|
68 | (7) |
|
3.4.1 General First-Order Agents and Consensus Algorithm |
|
|
68 | (2) |
|
3.4.2 Consensus Seeking Under Symmetric Topology |
|
|
70 | (4) |
|
3.4.3 Consensus Under Input and Communication Delays |
|
|
74 | (1) |
|
|
|
75 | (4) |
|
|
|
76 | (3) |
|
4 Difference-Compensated Consensus Algorithms |
|
|
79 | (20) |
|
|
|
79 | (1) |
|
4.2 Asynchronously Compensated Consensus Algorithm |
|
|
80 | (9) |
|
4.2.1 Design of Consensus Algorithm |
|
|
80 | (2) |
|
4.2.2 Consensus Convergence Analysis |
|
|
82 | (7) |
|
4.3 Leader-Following Asynchronously Compensated Consensus Algorithm |
|
|
89 | (7) |
|
4.3.1 Delay-Independent Consensus Criterion |
|
|
91 | (3) |
|
4.3.2 Delay-Dependent Consensus Criterion |
|
|
94 | (2) |
|
|
|
96 | (3) |
|
|
|
98 | (1) |
|
5 Predictor-Based Consensus Algorithms |
|
|
99 | (24) |
|
|
|
99 | (1) |
|
5.2 General First-Order Multi-agent Systems |
|
|
100 | (7) |
|
5.2.1 Synchronously Coupled Algorithm |
|
|
101 | (1) |
|
5.2.2 Asynchronously Coupled Algorithm |
|
|
102 | (2) |
|
5.2.3 Predictor-Based Algorithm |
|
|
104 | (3) |
|
5.3 Synchronous Oscillation of Multiple Harmonic Oscillators |
|
|
107 | (7) |
|
5.3.1 Harmonic Oscillators and Distributed Algorithm |
|
|
107 | (1) |
|
5.3.2 Delay Robustness of Predictor-Based Consensus Algorithm |
|
|
108 | (6) |
|
5.4 Consensus Seeking of High-Order Multi-agent Systems |
|
|
114 | (7) |
|
5.4.1 Final Collective Behavior Under Predictor-Based Algorithm |
|
|
116 | (1) |
|
5.4.2 Consensus Convergence Criteria |
|
|
117 | (4) |
|
|
|
121 | (2) |
|
|
|
121 | (2) |
| Index |
|
123 | |
Cheng-Lin Liu is an associate professor at Jiangnan University. His research interests include distributed coordination control of multi-agent systems, networked control system, iterative learning control. He has published over 30 Journal papers in recent years, of which 15 are international and SCI journal papers. He won the Outstanding Doctoral Dissertation Award of Southeast University, Nanjing, China, in 2010. He has been invited to be a peer reviewer for international journals, including: Automatica, International Journal of Robust and Nonlinear Control, IET Control Theory and Applications, Journal of the Franklin Institute, International Journal of Systems Science, etc. Fei Liu is a professor at Jiangnan University. His research interests include advanced control theory and applications, batch process control engineering, distributed control systems and coordination control of multi-agent systems. He has been invited to be a peer reviewer for international journals, including: IEEE Trans on Automatic Control, Automatica, IEEE Trans on Industrial Electronics, Journal of Process Control, International Journal of Robust and Nonlinear Control, etc.
Lisainfo e-raamatute kohta