Formation and Containment Control for High-order Linear Swarm Systems

✍ Scribed by Xiwang Dong (auth.)

Publisher: Springer-Verlag Berlin Heidelberg
Year: 2016
Tongue: English
Leaves: 182
Series: Springer Theses
Edition: 1
Category: Library

No coin nor oath required. For personal study only.

✦ Synopsis

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.

✦ Table of Contents

Front Matter....Pages i-xix
Introduction....Pages 1-24
Preliminaries....Pages 25-31
Consensus Control of Swarm Systems....Pages 33-51
Formation Control of Swarm Systems....Pages 53-103
Containment Control of Swarm Systems....Pages 105-131
Formation-Containment Control of Swarm Systems....Pages 133-164
Conclusions and Future Work....Pages 165-168
Back Matter....Pages 169-170

✦ Subjects

Control; Systems Theory, Control; Complex Systems; Artificial Intelligence (incl. Robotics)

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