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:

  1. 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
  2. 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
  3. 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
  1. 2022.09.30 Introduction, graphs
  2. 2022.10.07 Graph connectivity
  3. 2022.10.14 Matrices of graph
  4. 2022.10.21 Averaging problem
  5. 2022.10.28 Distributed averaging algorithm
  6. 2022.11.11 Distributed optimization algorithm
  7. 2022.11.18 Distributed consensus problem
  8. 2022.11.25 Distributed consensus algorithm
  9. 2022.12.02 Matlab code tutorial 1
  10. 2022.12.09 Matlab code tutorial 2
  11. 2022.12.16 Distributed consensus algorithm
  12. 2023.01.06 2D formation problem
  13. 2023.01.20 Distributed 2D formation algorithm
  14. 2023.01.27 3D formation problem
  15. 2023.02.03 Distributed 3D formation algorithm