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Cooperative Control of Multi-Agent Systems : A Consensus Region Approach, Hardback Book


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 systemsStudies the H and H2 consensus problems for linear multi-agent systems subject to external disturbancesDesigns 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 inputExamines the distributed containment control problem for the case with multiple leadersCovers the robust cooperative control problem for multi-agent systems with linear nominal agent dynamics subject to heterogeneous matching uncertaintiesDiscusses the global consensus problem for Lipschitz nonlinear multi-agent systemsCooperative 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.


  • Format: Hardback
  • Pages: 262 pages, 50 Illustrations, black and white
  • Publisher: Taylor & Francis Inc
  • Publication Date:
  • Category: Power generation & distribution
  • ISBN: 9781466569942



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