Formation and Containment Control for High-order Linear Swarm Systems
Dong, Xiwang.
Formation and Containment Control for High-order Linear Swarm Systems [recurso electrónico] / by Xiwang Dong. - XIX, 170 p. 41 illus., 27 illus. in color. online resource. - Springer Theses, Recognizing Outstanding Ph.D. Research, 2190-5053 . - Springer Theses, Recognizing Outstanding Ph.D. Research, .
Introduction -- Preliminaries -- Consensus control of swarm systems -- Formation control of swarm systems -- Containment control of swarm systems -- Formation-containment control of swarm systems -- Conclusions and future work.
This book focuses on analysis and design problems for high-order linear time-invariant (LTI) swarm systems (multi-agent systems) to achieve consensus, formation, containment and formation-containment. As a first step, the concepts of practical consensus and formation-containment are introduced. Unlike previous research, the formation in this book can be time-varying. A general framework for consensus, consensus tracking, formation, containment and state formation-containment is presented for the first time. Sufficient/necessary and sufficient conditions, and approaches to designing the protocols for swarm systems to achieve these control objectives, are respectively proposed. Autonomous time-varying formation experiments using five quadrotor unmanned aerial vehicles (UAVs) are conducted in an outdoor setting to demonstrate the theoretical results.
9783662478363
Engineering.
Artificial intelligence.
System theory.
Control engineering.
Engineering.
Control.
Systems Theory, Control.
Complex Systems.
Artificial Intelligence (incl. Robotics).
TJ212-225
629.8
Formation and Containment Control for High-order Linear Swarm Systems [recurso electrónico] / by Xiwang Dong. - XIX, 170 p. 41 illus., 27 illus. in color. online resource. - Springer Theses, Recognizing Outstanding Ph.D. Research, 2190-5053 . - Springer Theses, Recognizing Outstanding Ph.D. Research, .
Introduction -- Preliminaries -- Consensus control of swarm systems -- Formation control of swarm systems -- Containment control of swarm systems -- Formation-containment control of swarm systems -- Conclusions and future work.
This book focuses on analysis and design problems for high-order linear time-invariant (LTI) swarm systems (multi-agent systems) to achieve consensus, formation, containment and formation-containment. As a first step, the concepts of practical consensus and formation-containment are introduced. Unlike previous research, the formation in this book can be time-varying. A general framework for consensus, consensus tracking, formation, containment and state formation-containment is presented for the first time. Sufficient/necessary and sufficient conditions, and approaches to designing the protocols for swarm systems to achieve these control objectives, are respectively proposed. Autonomous time-varying formation experiments using five quadrotor unmanned aerial vehicles (UAVs) are conducted in an outdoor setting to demonstrate the theoretical results.
9783662478363
Engineering.
Artificial intelligence.
System theory.
Control engineering.
Engineering.
Control.
Systems Theory, Control.
Complex Systems.
Artificial Intelligence (incl. Robotics).
TJ212-225
629.8
