| Description |
1 online resource (xxiii, 149 pages) : illustrations |
| Contents |
880-01 Background -- Semi-decentralized Optimal Consensus Strategies -- Nonideal Considerations for Semi-decentralized Optimal Team Cooperation -- Linear Matrix Inequalities in the Team Cooperation Problem -- Conclusions and FutureWork |
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880-01/(S Machine generated contents note: 1. Introduction -- 1.1. Motivation -- 1.2. Applications -- 1.3. Literature Review -- 1.3.1. Formation Control -- 1.3.2. Floeking-/Swarming-Based Approaches -- 1.3.3. Consensus Algorithms -- 1.4. General Statement of the Problem -- 1.5. Outline of the Book -- 2. Background -- 2.1. Network of Multi-agent Systems -- 2.2. Information Structure and Neighboring Sets -- 2.2.1. Leaderless Structure -- 2.2.2. Modified Leader-Follower Structure -- 2.2.3. Ring Topology -- 2.3. Model of Interactions Among the Team Members -- 2.4. Dynamical Model of an Agent -- 2.4.1. Mobile Robot Dynamical Model: Double Integrator Dynamical Model -- 2.4.2. Linear Dynamical Model -- 2.5. Terminologies and Definitions -- 2.6. Types of Actuator Faults -- 2.7. Hamilton-Jacobi-Bellman Equations -- 2.8. LMI Formulation of the Linear Quadratic Regulator Problem -- 2.9. Cooperative Game Theory -- 2.10. Problem Statement: Consensus in a Team of Multi-agent Systems -- 3. Semi-decentralized Optimal Consensus Strategies -- 3.1. Optimal Control Problem Formulation -- 3.1.1. Definition of Cost Functions -- 3.1.2. HJB Equations for the Consensus-Seeking Problem -- 3.2. Case I: Team of Multi-agent Systems with Double Integrator Dynamical Model -- 3.2.1. Consensus Problem in a Leaderless Multi-vehicle Team -- 3.2.2. Consensus Problem in an MLF Multi-vehicle Team -- 3.3. Case II: Team of Multi-agent Systems with Linear Dynamical Model -- 3.3.1. Consensus Problem in an MLF Multi-vehicle Team -- 3.3.2. Consensus Problem in an LL Multi-vehicle Team -- 3.4. Simulation Results -- 3.4.1. Double Integrator Dynamical Model -- 3.4.2. Linear Dynamical Model -- 3.5. Conclusions -- 4. Nonideal Considerations for Semi-decentralized Optimal Team Cooperation -- 4.1. Team Behavior in Presence of Actuator Faults -- 4.1.1. Team Behavior Subject to the Loss of Effectiveness Fault in an Agent's Aetuator -- 4.1.2. Team Behavior Subject to an Aetuator Float Fault in an Agent -- 4.1.3. Team Behavior Subject to a Lock-in-Place Fault in an Agent -- 4.1.4. Leaderless Structure -- 4.2. Switching Network Structure -- 4.2.1. Switching Control Input and Stability Analysis -- 4.2.2. Selection Criterion for κ: Performance-Control Effort Trade-Off -- 4.3. Simulation Results -- 4.3.1. Effects of Actuator Faults on the Team Performance -- 4.3.2. Team Performance in a Switching Network Topology -- 4.4. Conclusions -- 5. Linear Matrix Inequalities in the Team Cooperation Problem -- 5.1. Cooperative Game Theory Approach to Consensus Seeking -- 5.1.1. Problem Formulation -- 5.1.2. Solution or the Minimization Problem: An LMI Formulation -- 5.1.3. Algorithm for Obtaining a Nash Bargaining Solution -- 5.2. LMI Approach to the Optimal Consensus Seeking -- 5.2.1. State Decomposition -- 5.2.2. Optimal Control Design -- 5.2.3. Discussion on the Graph Connectivity -- 5.3. Simulation Results -- 5.3.1. Game Theory Approach -- 5.3.2. LMI-Based Optimal Control Approach -- 5.4. Conclusions -- 6. Conclusions and Future Work -- 6.1. Conclusions -- 6.2. Further Extensions -- A. Proofs -- A.1. Proofs of the Lemmas and Theorems of Chap. 3 -- A.2. Proofs of the Lemmas and Theorems of Chap. 4 -- A.3. Proofs of the Lemmas and Theorems of Chap. 5 |
| Summary |
Team Cooperation in a Network of Multi-Vehicle Unmanned Systems develops a framework for modeling and control of a network of multi-agent unmanned systems in a cooperative manner and with consideration of non-ideal and practical considerations. The main focus of this book is the development of "synthesis-based" algorithms rather than on conventional "analysis-based" approaches to the team cooperation, specifically the team consensus problems. The authors provide a set of modified "design-based" consensus algorithms whose optimality is verified through introduction of performance indices. This book also: Provides synthesis-based methodology for team cooperation Introduces a consensus-protocol optimized performance index Offers comparisons for use of proper indices in measuring team performance Analyzes and predicts performance of previously designed consensus algorithms Analyses and predicts team behavior in the presence of non-ideal considerations such as actuator anomalies and faults as well as the evolutions in the structure of the information exchange Team Cooperation in a Network of Multi-Vehicle Unmanned Systems is an ideal book for researchers as well as graduate-level university students who desire to work in the area of networked unmanned systems |
| Analysis |
Engineering |
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Control, Robotics, Mechatronics |
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Artificial Intelligence (incl. Robotics) |
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Computational Intelligence |
| Bibliography |
Includes bibliographical references and index |
| Subject |
Vehicles, Remotely piloted.
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Automatic control.
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Wireless sensor networks.
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TECHNOLOGY & ENGINEERING -- Automation.
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TECHNOLOGY & ENGINEERING -- Robotics.
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Ingénierie.
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Automatic control
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Vehicles, Remotely piloted
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Wireless sensor networks
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| Form |
Electronic book
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| Author |
Khorasani, K. (Khashayar), 1960-
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| ISBN |
9781461450733 |
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146145073X |
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1461450721 |
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9781461450726 |
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9781283910705 |
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1283910705 |
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