This book presents a concise introduction to the latest advances in robust cooperative control design for multi-agent systems with input delay and external disturbances, especially from a prediction and observation perspective. The volume covers a wide range of applications, such as the trajectory tracking of quadrotors, formation flying of multiple unmanned aerial vehicles (UAVs) and fixed-time formation of ground vehicles. Robust cooperative control means that multi-agent systems are able to achieve specified control tasks while remaining robust in the face of both parametric and nonparametric model uncertainties. In addition, the authors cover a wide range of key issues in cooperative control, such as communication and input delays, parametric model uncertainties and external disturbances. Moving beyond the scope of existing works, a systematic prediction and observation approach to designing robust cooperative control laws is presented. About the Authors Chunyan Wang is an Associate Professor in the School of Aerospace Engineering at Beijing Institute of Technology, China. Zongyu Zuo is a full Professor with the School of Automation Science and Electrical Engineering, Beihang University, China. Jianan Wang is an Associate Professor in the School of Aerospace Engineering at Beijing Institute of Technology, China. Zhengtao Ding is a Professor in the Department of Electrical and Electronic Engineering at University of Manchester, U.K.
This is a beginner's step-by-step guide to the art of Chinese brush painting. Highly illustrated, it takes the reader through the materials and equipment needed as well as the various techniques that are employed in this style of painting. The book contains 24 project-based lessons, each concentrating on traditional elements or themes.
Cooperative Control of Multi-Agent Systems: An Optimal and Robust Perspective reports and encourages technology transfer in the field of cooperative control of multi-agent systems. The book deals with UGVs, UAVs, UUVs and spacecraft, and more. It presents an extended exposition of the authors’ recent work on all aspects of multi-agent technology. Modelling and cooperative control of multi-agent systems are topics of great interest, across both academia (research and education) and industry (for real applications and end-users). Graduate students and researchers from a wide spectrum of specialties in electrical, mechanical or aerospace engineering fields will use this book as a key resource. Helps shape the reader's understanding of optimal and robust cooperative control design techniques for multi-agent systems Presents new theoretical control challenges and investigates unresolved/open problems Explores future research trends in multi-agent systems Offers a certain amount of analytical mathematics, practical numerical procedures, and actual implementations of some proposed approaches
This book presents a concise introduction to the latest advances in robust cooperative control design for multi-agent systems with input delay and external disturbances, especially from a prediction and observation perspective. The volume covers a wide range of applications, such as the trajectory tracking of quadrotors, formation flying of multiple unmanned aerial vehicles (UAVs) and fixed-time formation of ground vehicles. Robust cooperative control means that multi-agent systems are able to achieve specified control tasks while remaining robust in the face of both parametric and nonparametric model uncertainties. In addition, the authors cover a wide range of key issues in cooperative control, such as communication and input delays, parametric model uncertainties and external disturbances. Moving beyond the scope of existing works, a systematic prediction and observation approach to designing robust cooperative control laws is presented. About the Authors Chunyan Wang is an Associate Professor in the School of Aerospace Engineering at Beijing Institute of Technology, China. Zongyu Zuo is a full Professor with the School of Automation Science and Electrical Engineering, Beihang University, China. Jianan Wang is an Associate Professor in the School of Aerospace Engineering at Beijing Institute of Technology, China. Zhengtao Ding is a Professor in the Department of Electrical and Electronic Engineering at University of Manchester, U.K.
Cooperative Control of Multi-Agent Systems: An Optimal and Robust Perspective reports and encourages technology transfer in the field of cooperative control of multi-agent systems. The book deals with UGVs, UAVs, UUVs and spacecraft, and more. It presents an extended exposition of the authors’ recent work on all aspects of multi-agent technology. Modelling and cooperative control of multi-agent systems are topics of great interest, across both academia (research and education) and industry (for real applications and end-users). Graduate students and researchers from a wide spectrum of specialties in electrical, mechanical or aerospace engineering fields will use this book as a key resource. Helps shape the reader's understanding of optimal and robust cooperative control design techniques for multi-agent systems Presents new theoretical control challenges and investigates unresolved/open problems Explores future research trends in multi-agent systems Offers a certain amount of analytical mathematics, practical numerical procedures, and actual implementations of some proposed approaches
We consider a multi-divisional firm in which each division replenishes its inventory and the headquarter coordinates the cash flow through a master account over a finite horizon. The demands of the divisions are stochastic and may be correlated. The objective is to find an optimal joint inventory replenishment and cash retention policy which maximizes the firm's working capital. We show that this problem is equivalent to minimizing the total system cost. Due to curse of dimensionality, the optimal policy is difficult to obtain. Nevertheless, we characterize the properties of the optimal policy and develop a simple heuristic that possesses these properties. A numerical study shows that the heuristic is near-optimal. We explore managerial insights through the heuristic. Among others, we find that the value of cash pooling is most significant when the demands of the divisions are negatively correlated.
This book is a technical publication for students, scholars and engineers in electrical engineering, focusing on the pulse-width-modulation (PWM) technologies in power electronics area. Based on an introduction of basic PWM principles this book analyzes three major challenges for PWM on system performance: power losses, voltage/current ripple and electromagnetic interference (EMI) noise, and the lack of utilization of control freedoms in conventional PWM technologies. Then, the model of PWM's impact on system performance is introduced, with the current ripple prediction method for voltage source converter as example. With the prediction model, two major advanced PWM methods are introduced: variable switching frequency PWM and phase-shift PWM, which can reduce the power losses and EMI for the system based on the prediction model. Furthermore, the advanced PWM can be applied in advanced topologies including multilevel converters and paralleled converters. With more control variables in the advanced topologies, performance of PWM can be further improved. Also, for the special problem for common-mode noise, this book introduces modified PWM method for reduction. Especially, the paralleled inverters with advanced PWM can achieve good performance for the common-mode noise reduction. Finally, the implementation of PWM technologies in hardware is introduced in the last part.
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