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2013 | Buch

Introduction Kapitel lesen Erstes Kapitel lesen

Team Cooperation in a Network of Multi-Vehicle Unmanned Systems

Synthesis of Consensus Algorithms

verfasst von: Elham Semsar-Kazerooni, Khashayar Khorasani

Verlag: Springer New York

Enthalten in: Springer Professional "Wirtschaft+Technik" , Springer Professional "Technik" , Springer Professional "Wirtschaft"

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SUCHEN

Über dieses Buch

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.

Inhaltsverzeichnis

Frontmatter
Chapter 1. Introduction
Abstract
Recently, there has been a growing interest towards development of sensor network (SN) systems, or more broadly defined as a network of unmanned systems (NUMS), that can operate autonomously for an extended period of time without an extensive involvement of human operators. In this chapter, we provide a brief introduction to these networks, their applications, the control problems that arise in this domain, as well as solutions that are proposed for these problems in the literature.
Elham Semsar-Kazerooni, Khashayar Khorasani
Chapter 2. Background
Abstract
In this chapter, all the background material that is required for the remainder of this book are provided. These topics cover formal definition of a network of multi-agent systems as well as the dynamical model of an agent, communication structures, and the formal statement of the consensus-seeking problem in a network of multi-agent systems. Other sections provide background on mathematical frameworks that are used in this book. Examples are introduction to the game theory framework, the optimal control problem formulation, as well as linear matrix inequalities (LMIs).
Elham Semsar-Kazerooni, Khashayar Khorasani
Chapter 3. Semi-decentralized Optimal Consensus Strategies
Abstract
The objectives of this chapter are development and design of controllers for a team of multi-agent systems to accomplish consensus in both the leaderless (LL) and the modified leader–follower (MLF) architectures in a systematic manner. Towards this end, a semi-decentralized optimal control strategy is designed based on minimization of individual cost functions that are defined for the team members by using local information, only. Furthermore, it is shown that for general linear dynamical models of agents, by appropriate selection of the cost function gains through a set of linear matrix inequalities (LMIs), the team is guaranteed to remain stable and the resulting controllers ensure satisfying the predefined team goal, i.e., cohesive motion of the entire team. It is shown that minimization of the proposed individual cost functions in the infinite horizon case results in a control law which is the well-known “average consensus protocol” [79] or its modified version for both the LL and the MLF structures. This implies that by using the present framework and methodology the average consensus protocol is derived in a formal manner. In other words, we have introduced a performance index that is minimized by the average consensus protocol through the proposed methodology.
Elham Semsar-Kazerooni, Khashayar Khorasani
Chapter 4. Nonideal Considerations for Semi-decentralized Optimal Team Cooperation
Abstract
In practice, many impediments may prevent the team members to cooperate effectively and efficiently. To address this issue, in this chapter, two nonideal considerations are investigated for the team cooperation problem. Specifically, we will generalize the results that are obtained in the previous chapter to more challenging environments and considerations. We have considered two scenarios. First, the performance of the previously designed team in the presence of actuator faults is investigated. In the second part of this chapter, the control design is modified to address stability and consensus seeking in a switching network topology.
Elham Semsar-Kazerooni, Khashayar Khorasani
Chapter 5. Linear Matrix Inequalities in the Team Cooperation Problem
Abstract
In this chapter, we utilize the linear matrix inequality (LMI) formulation to solve the consensus-seeking problem in two frameworks, namely game theoretic and optimal control. In both approaches we take the advantage of the LMI’s tool to formulate the presence of relevant constraints on the consensus-seeking problem. In other words, certain constraints are added to the original consensus-seeking problem in order to yield a decentralized solution that guarantees consensus achievement. The first part of this chapter is dedicated to the game theoretic-based approach and the second part discusses the optimal control approach that is based on a novel state decomposition concept which is formally specified subsequently.
Elham Semsar-Kazerooni, Khashayar Khorasani
Chapter 6. Conclusions and FutureWork
Abstract
The main focus and emphasis of this book has been on the problem of coordination and collaboration in a network of multi-agent systems. The main objectives pursued have been on addressing the question of how to design a control law to simultaneously satisfy several goals in a team of multi-agent systems, such as requiring stability of the team consensus subject to availability of partial team information, presence of faults, and network communication or topological switching and changes. The problem of team collaboration has played a key role in the development of our proposed methodologies. The main goals of this book are to develop innovative and novel concepts, techniques, and solutions to meet the stringent requirements that are envisaged for the network of unmanned vehicles that are to be employed in different challenging applications.
Elham Semsar-Kazerooni, Khashayar Khorasani
Backmatter
Metadaten
Titel
Team Cooperation in a Network of Multi-Vehicle Unmanned Systems
verfasst von
Elham Semsar-Kazerooni
Khashayar Khorasani
Copyright-Jahr
2013
Verlag
Springer New York
Electronic ISBN
978-1-4614-5073-3
Print ISBN
978-1-4614-5072-6
DOI
https://doi.org/10.1007/978-1-4614-5073-3

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