Robust Cooperative Control of Multi-Agent Systems: A Prediction and Observation Prospective

Cover
Half Title
Title Page
Copyright Page
Contents
Author Bios
Preface
1. Introduction and Mathematical Background
	1.1. Multi-Agent Coordination
		1.1.1. Control Architectures
		1.1.2. Potential Applications
		1.1.3. Research Topics
	1.2. Robust Problem in Cooperative Control
		1.2.1. Time-Delay Problem
		1.2.2. Model Uncertanties and External Disturbances
	1.3. Overview of This Monograph
	1.4. Mathematical Background
		1.4.1. Notations
		1.4.2. Matrix Theory
		1.4.3. Stability Theory
		1.4.4. Basic Algebraic Graph Theory
	1.5. Notes
2. Stabilization of Single Systems with Input Delay: Prediction and Observation
	2.1. Problem Formulation and Preliminaries
		2.1.1. Problem Statement
		2.1.2. Predictor and Truncated Prediction
		2.1.3. Preliminary Results
	2.2. Truncated Prediction Feedback with Constant Input Delay
	2.3. Truncated Prediction Feedback with Time-Varying Input Delay
		2.3.1. Stabilization by State Feedback
		2.3.2. Stabilization by Output Feedback
	2.4. Predictive Descriptor Observer Design for LTI Systems with Input Delay and Sensor Fault
		2.4.1. Problem Formulation
		2.4.2. Stabilization by State Feedback
		2.4.3. Stabilization by Output Feedback under Sensor Fault
	2.5. Numerical Examples
		2.5.1. Constant Input Delay Case
		2.5.2. Time-Varying Delay Case
	2.6. Experiment Validation
		2.6.1. Quadrotor Model and Linearization
		2.6.2. Experimental Platform
		2.6.3. Experimental Results
	2.7. Conclusions
	2.8. Notes
3. Robust Consensus Control for Uncertian Linear Multi-Agent Systems with Input Delay
	3.1. Problem Formulation
	3.2. Robust Consensus Controller Design
	3.3. A Numerical Example
	3.4. Conclusions
	3.5. Notes
4 H∞ Consensus Control of Linear Multi-Agent Systems with Input Delay
	4.1. Problem Formulation
	4.2. H∞ Consensus Control
	4.3. A Numerical Example
	4.4. Conclusions
	4.5. Notes
5. Consensus Control of Nonlinear Multi-Agent Systems with Input Delay
	5.1. Problem Formulation
	5.2. Predictor-Based Consensus
	5.3. Truncated-Predictor-Based Consensus
	5.4. Numerical Examples
		5.4.1. Predictor Case
		5.4.2. TPF Case
	5.5. Conclusions
	5.6. Notes
6. Consensus Disturbance Rejection for Lipschitz Nonlinear MASs with Input Delay: A Predictor Feedback Approach
	6.1. Problem Formulation
	6.2. Consensus Disturbance Rejection
		6.2.1. Controller and Observer Design
		6.2.2. Consensus Analysis
	6.3. A Numerical Example
	6.4. Conclusions
	6.5. Notes
7. Consensus Disturbance Rejection for Lipschitz Nonlinear MASs with Input Delay: A Predictive Observation Approach
	7.1. Problem Formulation
	7.2. Predictive Observer-Based Consensus for Linear Case
		7.2.1. Predictor-Based ESO and Controller Design
		7.2.2. Stability Analysis
	7.3. Predictor Observer Design for Nonlinear Case
	7.4. A Numerical Example
	7.5. Conclusions
	7.6. Notes
8. Formation Control with Disturbance Rejection for a Class of Lipschitz Nonlinear Systems
	8.1. Problem Formulation
		8.1.1. Problem Statement
	8.2. DOBC-Based Formation Control
	8.3. A Numerical Example
	8.4. Conclusions
	8.5. Notes
9. Fixed-Time Formation Control of Input-Delayed Multi-Agent Systems: Design and Experiments
	9.1. Problem Formulation and Preliminaries
		9.1.1. Problem Formulation
		9.1.2. Preliminaries
	9.2. Fixed-Time Formation Control
		9.2.1. Fixed-Time Formation with Undirected Topology
		9.2.2. Fixed-Time Formation with Directed Topology
	9.3. A Numerical Example
	9.4. Experiment Validation
		9.4.1. Experimental Platform
		9.4.2. Linearization-Based Kinematic Model of E-Puck Robot
		9.4.3. Static Formation with Four E-Puck Robots
		9.4.4. Time-Varying Formation with Four E-Puck Robots
	9.5. Conclusions
	9.6. Notes
10. Cascade Structure Predictive Observer Design for Consensus Control with Applications to UAVs Formation Flying
	10.1. Problem Formulation
	10.2. Delay Upper Bound Analysis
	10.3. Observer and Controller Design
		10.3.1. Cascade Predictive Observer Design
		10.3.2. Distributed Robust Adaptive Controller Design
	10.4. Numerical Example
	10.5. Experiment Validation
		10.5.1. Experimental Platform
		10.5.2. Experimental Results
	10.6. Conclusions
	10.7. Notes
Bibliography