Formation and Containment Control for High-order Linear Swarm Systems
Nonfiction, Science & Nature, Science, Other Sciences, System Theory, Technology, Automation
| Author: | Xiwang Dong | ISBN: | 9783662478363 |
| Publisher: | Springer Berlin Heidelberg | Publication: | July 18, 2015 |
| Imprint: | Springer | Language: | English |
| Author: | Xiwang Dong |
| ISBN: | 9783662478363 |
| Publisher: | Springer Berlin Heidelberg |
| Publication: | July 18, 2015 |
| Imprint: | Springer |
| Language: | English |
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.
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.
