Cooperative Control Design

Cooperative Control Design: A Systematic, Passivity-Based Approach discusses multi-agent coordination problems, including formation  control, attitude coordination, and synchronization. The book introduces passivity as a design tool for multi-agent systems in order  to provide exemplary work using this tool, and to illustrate its  advantages in designing robust cooperative control algorithms. The  discussion begins with an introduction to passivity and demonstrates how  passivity can be used as a design tool for motion coordination.  This is followed by the case of adaptive redesigns for reference velocity  recovery, done while describing a basic design, a modified design and the  parameter convergence problem. Formation control is presented as it  relates to relative distance control and relative position control. The  coverage is concluded with a comprehensive discussion of agreement and  the synchronization problem with an example using attitude coordination. This book also:

• provides a unified passivity-based framework for multi-agent coordination problems, including formation control, attitude coordination, and synchronization;

• discusses control algorithms that are modular, scalable and decentralized and can be easily refined and used again; and

• covers complex and heterogeneous nonlinear agent dynamics, including Lagrangian and Hamiltonian systems.

Cooperative Control Design: A Systematic, Passivity-Based Approach is an ideal volume for researchers and engineers working in control and engineering design.