Networked and Multiagent Control Systems (ELL805)
Time and Venue (SemesterI, 202324)
Tuesday: 10 AM  11 AM (LH 527)
Wednesday: 10 AM  11 AM (LH 527)
Friday: 10 AM  11 AM (LH 527)
Syllabus
Graph Theory
Some Definitions on Graphs and digraphs (Lecture 2)
Graph associated matrices and results: Adjacency matrix, Incidence matrix, Laplacian matrix; Edge Laplacian matrix, Cycle space (Lecture 3, Lecture 4, Lecture 5, Lecture 6, Lecture 7, Lecture 8, Lecture 9, Lecture 10)
Formation Control
Formation specification, Formation invariants (scale, translation and rotation), Formation control, Rendezvous (Lecture 20, Lecture 21, Lecture 22), Rigid framework, Infinitesimal rigidity, Rigidity matrix, Minimally rigid framework, Gradient based control (Lecture 23, Lecture 2425, Lecture 26)
Evaluation
Suggested References
M. Mesbahi and M. Egerstedt, “Graph Theoretic Methods in Multiagent Networks”, Princeton Univercity Press, NJ, 2010.
W. Ren and R.W. Beard, “Distributed Consensus in Multivehicle Cooperative Control: Theory and Application”, SpringerVerlag, London, 2008.
R. B. Bapat, “Graphs and Matrices”, Hindustan Book Agency, SpringerVerlag, London, 2011.
W. Ren, R. W. Beard, and E. M. Atkins, “Information Consensus in Multivehicle Cooperative Control”, IEEE Control Systems Magazine, April2007.
Z. Li, Z. Duan, G. Chen and L. Huang, “Consensus of Multiagent Systems and Synchronization of Complex Networks: A Unified Viewpoint”, IEEE Transactions on Circuits and SystemsI: Regular Papers, Vol. 571, 2010.
S. Datta, “Consensus in Multiagent Systems: A Transfer Function Based Controller Design Approach”, IEEE Transactions on Circuits and Systems II: Express Briefs, vol.: 69(11), pp: 43844388, 2022.
L. Krick, M. E. Broucke and B. A. Francis “Stabilisation of infinitesimally rigid formations of multirobot networks”, International Journal of Control, Vol. 82, No. 3, 2009.
H. Zhang, F. L. Lewis and A. Das, “Optimal Design for Synchronization of Cooperative
Systems: State Feedback, Observer and Output Feedback”, IEEE Transactions on Automatic Control, vol. 56, no. 8, 2011.
