Title :

Distributed Control of Networked Multi-agent Systems: Algorithms and Applications

Speaker :

Prof. Wei Ren

Department of Electrical and Computer Engineering

Utah State University, Logan, UT, USA

Venue :

Room 215, William M. W. Mong Engineering Building, CUHK

Date :

Jun 1, 2011, Wednesday
4:30 PM - 5:30 PM

Abstract :

While autonomous agents that perform solo missions can yield significant benefits, greater efficiency and operational capability will be realized from teams of autonomous agents operating in a coordinated fashion. Potential applications for networked multiple autonomous agents include environmental monitoring, search and rescue, space-based interferometers, hazardous material handling, and combat, surveillance, and reconnaissance systems. Networked multi-agent systems place high demands on features such as low cost, high adaptivity and scalability, increased flexibility, great robustness, and easy maintenance. To meet these demands, the current trend is to design distributed control algorithms that rely on only local interaction to achieve global group behavior.

The purpose of this talk is to overview our recent research in distributed control of networked multi-agent systems. Theoretical results on distributed leaderless consensus algorithms with agent dynamics including first- and second-order linear dynamics, rigid body attitude dynamics, and Euler-Lagrange dynamics, distributed single-leader collective tracking algorithms with reduced interaction and partial measurements, distributed multi-leader containment control algorithms with local interaction, distributed periodic motion coordination algorithms with repetitive movements, and distributed average tracking algorithms with multiple time-varying reference signals will be introduced. Application examples in multi-vehicle cooperative control including rendezvous, formation keeping, and cooperative herding for wheeled mobile robots, UAV formation flying, deep space spacecraft attitude alignment, and synchronization of networked robotic arms will also be introduced.

Biography :

Wei Ren received the Ph.D. degree in electrical engineering from Brigham Young University, Provo, UT, in 2004. From October 2004 to July 2005, he was a Postdoctoral Research Associate with the Department of Aerospace Engineering, University of Maryland, College Park, MD. Since August 2005, he has been with the Department of Electrical and Computer Engineering, Utah State University, Logan, UT, where he is currently an Associate Professor. His research focuses on distributed control of multi-agent systems and networked control systems. He is author of two books Distributed Coordination of Multi-agent Networks (Springer-Verlag, 2011) and Distributed Consensus in Multi-vehicle Cooperative Control (Springer-Verlag, 2008). He is currently an Associate Editor for Systems and Control Letters, an Associate Editor on the IEEE Control Systems Society Conference Editorial Board, and a member of the IEEE Control Systems Society Technical Committee on Nonlinear Systems and Control. Dr. Ren was the recipient of a National Science Foundation CAREER award in 2008. He was also the recipient of the Robins Award (Faculty Researcher of the Year) from Utah State University in 2011.

    **************************************** ALL ARE WELCOME ****************************************

Enquiries: Ms. Winnie Wong or Prof. Wen J. Li, Department of Mechanical and Automation Engineering, CUHK at 2609 8337. *MAE Series (2010-11) is contained in the World-Wide Web home page at http://www3.mae.cuhk.edu.hk/maeseminars.php#mae.