Plenary Lecture

Cooperative Control of Multi-Agent Systems Based on Certainty Equivalence Principle

Professor Jie Huang
Department of Mechanical and Automation
Chinese University of Hong Kong
Hong Kong

Abstract: One of the distinguished features of the cooperative control of multi-agent systems is that the control has to be distributed in order to satisfy the communication network constraints and to possess such advantages as computational simplicity, low cost, reliability and scalability. In this talk, we present an adaptive observer based approach to synthesize a distributed control law for various cooperative control problems. This design approach consists of three steps. First, a purely decentralized control law is designed assuming the control of each follower can access the information of the leader. Second, an adaptive distributed observer for the leader system is synthesized that is able to provide each follower the estimation of the leader’s dynamics and the leader’s signal. Finally, a distributed control law is composed of the purely decentralized control law and the adaptive distributed observer. The effectiveness of this design approach will be illustrated by some applications to several cooperative control problems of multi-agent systems such as the leader-following consensus problem, the cooperative output regulation problem, formation, rendezvous, and flocking.

Brief Biography of the Speaker: Jie Huang studied at Fuzhou University (Diploma, 1980), Nanjing University of Science and Technology (Master, 1982), and the Johns Hopkins University (PhD, 1990), respectively. He is now Choh-Ming Li Professor of Mechanical and Automation Engineering and Chairman of the Department of Mechanical and Automation Engineering, the Chinese University of Hong Kong. His research interests include automatic control, robotics and automation, and guidance and control of flight vehicles. He was elected CAA Fellow in 2010, IFAC Fellow in 2009, and IEEE Fellow in 2005.

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