BookDOI
Distributed Consensus in Multi-vehicle Cooperative Control
Wei Ren,Randal W. Beard +1 more
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TLDR
In this article, the authors present a survey of the use of consensus algorithms in multi-vehicle cooperative control, including single-and double-integrator dynamical systems, rigid-body attitude dynamics, rendezvous and axial alignment, formation control, deep-space formation flying, fire monitoring and surveillance.Abstract:
The coordinated use of autonomous vehicles has an abundance of potential applications from the domestic to the hazardously toxic. Frequently the communications necessary for the productive interplay of such vehicles may be subject to limitations in range, bandwidth, noise and other causes of unreliability. Information consensus guarantees that vehicles sharing information over a network topology have a consistent view of information critical to the coordination task. Assuming only neighbor-neighbor interaction between vehicles, Distributed Consensus in Multi-vehicle Cooperative Control develops distributed consensus strategies designed to ensure that the information states of all vehicles in a network converge to a common value. This approach strengthens the team, minimizing power consumption and the deleterious effects of range and other restrictions. The monograph is divided into six parts covering introductory, theoretical and experimental material and featuring: an overview of the use of consensus algorithms in cooperative control; consensus algorithms in single- and double-integrator dynamical systems; consensus algorithms for rigid-body attitude dynamics; rendezvous and axial alignment, formation control, deep-space formation flying, fire monitoring and surveillance. Notation drawn from graph and matrix theory and background material on linear and nonlinear system theory are enumerated in six appendices. The authors maintain a website at which can be found a sample simulation and experimental video material associated with experiments in several chapters of this book. Academic control systems researchers and their counterparts in government laboratories and robotics- and aerospace-related industries will find the ideas presented in Distributed Consensus in Multi-vehicle Cooperative Control of great interest. This text will also serve as a valuable support and reference for graduate courses in robotics, and linear and nonlinear control systems.read more
Citations
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Proceedings ArticleDOI
Multi-agent trajectory tracking with self-triggered cloud access
TL;DR: A cloud-supported control algorithm for coordinated trajectory tracking of networked autonomous agents by letting the agents intermittently access a shared information repository hosted on a cloud is presented.
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The leader election criterion for decentralized economic dispatch using incremental cost consensus algorithm
Ziang Zhang,Mo-Yuen Chow +1 more
TL;DR: In this article, the Incremental Cost Consensus (ICC) algorithm is presented to solve the conventional centralized economic dispatch problem in a distributed manner, and the results of several case studies are also presented to show that the difference between network topologies will influence the convergence rate of ICC algorithm.
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Consensus of a class of discrete-time nonlinear multi-agent systems in the presence of communication delays.
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TL;DR: Both theoretical analysis and numerical simulation show that the proposed distributed control laws ensure state consensus of the multi-agent system.
Proceedings ArticleDOI
Multi-agent robust consensus-Part I: Convergence analysis
TL;DR: This part of the paper investigates a robust consensus problem for continuous-time multi-agent systems with time-varying communication graphs and weight functions with Convergence rates presented explicitly with respect to L∞ and L1 norms of disturbances.
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Agent-based cyber control strategy design for resilient control systems: Concepts, architecture and methodologies
TL;DR: An integrated approach is taken to develop a holistic understanding of performance inside a multi-agent design, which provides a notional context to model highly decentralized and complex industrial process control systems, the nervous system of critical infrastructure.
References
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Coordination of groups of mobile autonomous agents using nearest neighbor rules
Ali Jadbabaie,Jie Lin,A.S. Morse +2 more
TL;DR: A theoretical explanation for the observed behavior of the Vicsek model, which proves to be a graphic example of a switched linear system which is stable, but for which there does not exist a common quadratic Lyapunov function.
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Information flow and cooperative control of vehicle formations
J.A. Fax,Richard M. Murray +1 more
TL;DR: A Nyquist criterion is proved that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability, and a method for decentralized information exchange between vehicles is proposed.
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Multi-vehicle consensus with a time-varying reference state
TL;DR: This paper first analyzes a consensus algorithm with a constant reference state using graph theoretical tools, then proposes consensus algorithms with a time-varying reference state and shows necessary and sufficient conditions under which consensus is reached on the time-Varyingreference state.
Journal ArticleDOI
Consensus strategies for cooperative control of vehicle formations
TL;DR: In this article, a consensus-based formation control strategy is proposed to guarantee accurate formation maintenance in the general case of arbitrary (directed) information flow between vehicles as long as certain mild conditions are satisfied.
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