β Sun, Zhiyong, author
π Library
π
2018
π Cham, Switzerland : Springer
π English
1 online resource (xxii, 179 pages) :
β¦ LIBER β¦
π
Cooperative Coordination and Formation Control for Multi-agent Systems
β Scribed by Zhiyong Sun (auth.)
- Publisher
- Springer International Publishing
- Year
- 2018
- Tongue
- English
- Leaves
- 189
- Series
- Springer Theses
- Edition
- 1
- Category
- Library
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β¦ Synopsis
The thesis presents new results on multi-agent formation control, focusing on the distributed stabilization control of rigid formation shapes. It analyzes a range of current research problems such as problems concerning the equilibrium and stability of formation control systems, or the problem of cooperative coordination control when agents have general dynamical models, and discusses practical considerations arising during the implementation of established formation control algorithms.
In addition, the thesis presents models of increasing complexity, from single integrator models, to double integrator models, to agents modeled by nonlinear kinematic and dynamic equations, including the familiar unicycle model and nonlinear system equations with drift terms. Presenting the fruits of a close collaboration between several top control groups at leading universities including Yale University, Groningen University, Purdue University and Gwangju Institute of Science and Technology (GIST), the thesis spans various research areas, including robustness issues in formations, quantization-based coordination, exponential stability in formation systems, and cooperative coordination of networked heterogeneous systems.
β¦ Table of Contents
Front Matter ....Pages i-xxii
Introduction (Zhiyong Sun)....Pages 1-11
Theoretical Preliminaries (Zhiyong Sun)....Pages 13-20
Front Matter ....Pages 21-21
Invariance Principles and Equilibrium Analysis for Formation Shape Control Systems (Zhiyong Sun)....Pages 23-38
Exponential Stability for Formation Control Systems with Generalized Controllers (Zhiyong Sun)....Pages 39-57
Front Matter ....Pages 59-59
Robustness Issues for 3-D Undirected Formations with Distance Mismatches (Zhiyong Sun)....Pages 61-79
Distributed Stabilization Control of Rigid Formations with Prescribed Orientations (Zhiyong Sun)....Pages 81-99
Quantization Effects in Rigid Formation Control (Zhiyong Sun)....Pages 101-123
Front Matter ....Pages 125-125
Rigid Formation Control of Double-Integrator Systems (Zhiyong Sun)....Pages 127-152
Formation Feasibility and Motion Generation of Networked Heterogeneous Systems (Zhiyong Sun)....Pages 153-169
Conclusions and Future Work (Zhiyong Sun)....Pages 171-177
Back Matter ....Pages 179-179
β¦ Subjects
Control
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