Multi-Agent Systems
IMPORTANT MESSAGES:
- Zoom information (ID: 993 3804 4669; PW: mas2022; LINK:
https://omu-ac-jp.zoom.us/j/99338044669?pwd=cHNzUHdQKzg1SkkxckJCTmVRZC9VUT09)
- Each week, slides and/or videos will be uploaded
- Grading will be based on one (1) final project
Learning Objectives:
- Learn how to model multi-agent systems using graph theory;
- study fundamental multi-agent cooperative control problems;
- design distributed control algorithms and analyze their properties.
Instructor:
- Prof. Kai Cai (Engineering Building F-610)
- Email: cai@omu.ac.jp
- Office hour: anytime appointment by email
TA:
- Kento Kugo (email: m21tb017@st.osaka-cu.ac.jp)
- Zhaojian Cai (email: m21tb301@st.osaka-cu.ac.jp)
Lecture Schedule:
- Period: Sep. 2022 -- Feb. 2023
- Day and Time: Fridays 15:00-16:30
Textbook / Reference:
There is no Textbook. Lecture notes will cover all contents. Two references are:
- K. Cai and Z. Lin, "Directed Cooperation: Distributed Control of Multi-Agent Systems over Directed Graphs", monograph in progress, version 1.2, 2022.12.30
- S. Azuma, M. Nagahara, H. Ishii, N. Hayashi, K. Sakurama, and T. Hatanaka, "Control of Multi-agent Systems", Systems Control Engineering Series Vol. 22, Corona Publishing Co., LTD, 2015
- F. Bullo, "Lectures on Network Systems", 2022.
Software:
Matlab (download installation files below, with university campus license).
After installing the software, you also need to make a change according this document. To use Matlab outside of Campus, first connect to OMU VPN.
Prerequisites:
Linear Algebra, Introduction to Control Engineering, Linear Feedback Control
Course Outline:
Dates Topics
- 2022.09.30 Introduction, graphs
- 2022.10.07 Graph connectivity
- 2022.10.14 Matrices of graph
- 2022.10.21 Averaging problem
- 2022.10.28 Distributed averaging algorithm
- 2022.11.11 Distributed optimization algorithm
- 2022.11.18 Distributed consensus problem
- 2022.11.25 Distributed consensus algorithm
- 2022.12.02 Matlab code tutorial 1
- 2022.12.09 Matlab code tutorial 2
- 2022.12.16 Distributed consensus algorithm
- 2023.01.06 2D formation problem
- 2023.01.20 Distributed 2D formation algorithm
- 2023.01.27 3D formation problem
- 2023.02.03 Distributed 3D formation algorithm