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Formation and Containment Control for High-order Linear Swarm Systems
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. Unli...
| Clasificación: | Libro Electrónico |
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| Autor principal: | |
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| Formato: | Electrónico eBook |
| Idioma: | Inglés |
| Publicado: |
Berlin, Heidelberg :
Springer Berlin Heidelberg : Imprint: Springer,
2016.
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| Edición: | 1st ed. 2016. |
| Colección: | Springer Theses, Recognizing Outstanding Ph.D. Research,
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| Acceso en línea: | Texto Completo |
| Sumario: | 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. |
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| Descripción Física: | XIX, 170 p. 41 illus., 27 illus. in color. online resource. |
| ISBN: | 9783662478363 |
| ISSN: | 2190-5061 |