Time-Varying Formation Tracking Control for Nonlinear Swarm Systems

✍ Scribed by Jianglong Yu, Xiwang Dong, Zhang Ren

• Publisher: Springer
• Year: 2023
• Tongue: English
• Leaves: 218
• Category: Library

✦ Synopsis

The book focuses on time-varying formation control approaches for practical nonlinear swarm systems. Time-varying formation control is the basic guarantee for performing other tasks of swarm systems, such as cooperative decision-making and cooperative detection. However, most practical swarm systems have nonlinear dynamic models. This book studies three typical models of practical nonlinear swarm systems, which represent most of the practical systems and construct the corresponding formation control structure. At the same time, the effects of disturbances, uncertain dynamics, random noise and unknown leader's input are considered and processed to improve the robustness and adaptability. The comprehensive and systematic treatment of practical nonlinear time-varying formation control issues is one of the major features of the book, which is particularly suited for readers who are interested to learn time-varying formation control solutions in nonlinear swarm systems. The book benefits researchers, engineers and graduate students in the fields of formation control, nonlinear control, robust control, etc.

✦ Table of Contents

Preface
Contents
1 Introduction
1.1 Scientific and Engineering Background
1.2 Literature Review of Time-Varying Formation Tracking Control
1.2.1 Literature Review of Time-Varying Formation Control
1.2.2 Literature Review of Formation Tracking Control of Nonlinear Swarm Systems
1.2.3 Contribution of This Monograph
1.2.4 Book Organization
References
2 Preliminaries
2.1 Graph Theory
2.2 Matrix Theory
2.3 Linear and Nonlinear System Theories
2.4 Neural Networks Control Theories
References
3 Time-Varying Formation Tracking Control for Nonlinear Swarm Systems with Matched Nonlinearity
3.1 Time-Varying Formation Tracking Control for Nonlinear Swarm Systems Based on Distributed Extend State Observers
3.1.1 Problem Description
3.1.2 Nonlinear Time-Varying Formation Tracking Control Protocol Design and Stability Analysis
3.1.3 Numerical Simulations
3.2 Adaptive Optimal Time-Varying Formation Tracking Control for Nonlinear Swarm Systems Based on the Distributed Extend State Observer
3.2.1 Problem Description
3.2.2 Adaptive Optimal Time-Varying Formation Tracking Control Protocol Design and Stability Analysis
3.2.3 Numerical Simulations
3.3 Time-Varying Formation Tracking Control for Nonlinear Swarm Systems Based on Adaptive Neural Networks
3.3.1 Problem Description
3.3.2 Time-Varying Formation Tracking Control Protocol and Adaptive Neural Networks Design
3.3.3 Stability Analysis
3.3.4 Numerical Simulations
3.4 Conclusions
References
4 Time-Varying Formation Tracking Control for High-Order Strict-Feedback Nonlinear Swarm Systems with a Noncooperative Leader
4.1 Time-Varying Formation Tracking Control for High-Order Strict-Feedback Nonlinear Swarm Systems Using Hierarchical Extended State Observers
4.1.1 Problem Description
4.1.2 Input Saturation and Hierarchical Extended State Observers Analysis
4.1.3 Nonlinear Time-Varying Formation Tracking Control Protocol Design and Stability Analysis
4.1.4 Numerical Simulations
4.2 Time-Varying Formation Tracking Control for High-Order Strict-Feedback Nonlinear Swarm Systems Using Adaptive Neural Networks
4.2.1 Problem Description
4.2.2 Time-Varying Formation Tracking Control Protocol and Adaptive Neural Networks Design
4.2.3 Stability Analysis
4.2.4 Numerical Simulations
4.3 Time-Varying Formation Tracking Control for High-Order Nonlinear Swarm Systems with Collision Avoidance, Obstacle Dodging and Connectivity Maintenance
4.3.1 Problem Description
4.3.2 Safety Assurance Mechanism of Collision Avoidance, Obstacle Dodging and Connectivity Maintenance
4.3.3 Nonlinear Time-Varying Formation Tracking Control Protocol Design
4.3.4 Stability Analysis
4.3.5 Numerical Simulations
4.4 Conclusions
References
5 Time-Varying Formation Tracking Control for High-Order Strict-Feedback Nonlinear Swarm Systems with Multiple Leaders
5.1 Time-Varying Formation Tracking Control for Nonlinear Swarm Systems with Multiple Leaders Using Adaptive Neural Networks
5.1.1 Problem Description
5.1.2 Nonlinear Time-Varying Formation Tracking Control Protocol Design
5.1.3 Stability Analysis
5.1.4 Numerical Simulations
5.2 Fully Adaptive Time-Varying Formation Tracking Control for High-Order Strict-Feedback Nonlinear Stochastic Swarm Systems with Multiple Leaders
5.2.1 Problem Description
5.2.2 Nonlinear Time-Varying Formation Tracking Control Protocol Design
5.2.3 Stability Analysis
5.2.4 Numerical Simulations
5.3 Cooperative Integrated Time-Varying Formation Tracking and Control for Nonlinear Missile Swarm Systems
5.3.1 Problem Description
5.3.2 Nonlinear Formation Tracking Control Protocol Design
5.3.3 Stability Analysis
5.3.4 Numerical Simulations
5.3.5 Appendix A
5.3.6 Appendix B
5.4 Conclusions
References
6 Time-Varying Formation Tracking Control for Underactuated Nonlinear Swarm Systems
6.1 Time-Varying Formation Tracking Control for Nonlinear Nonholonomic Mobile Robot Swarm Systems
6.1.1 Problem Description
6.1.2 Nonlinear Time-Varying Formation Tracking Control Protocol Design
6.1.3 Stability Analysis
6.1.4 Numerical Simulations
6.2 Formation-Containment Tracking for Nonlinear Underactuated Autonomous Surface Vessel Swarm Systems
6.2.1 Problem Description
6.2.2 Formation-Containment Tracking Protocol Design
6.2.3 Stability Analysis
6.2.4 Numerical Simulations
6.3 Conclusions
References