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Formation control of multiple autonomous vehicle systems /
"Presents representative case studies in selected applications in space, aerial, and robotic systems domains. - Introduces an experimental platform of using laboratory three-degree-of-freedom helicopters with step by step instructions as an example and exercises throughout the book for illustra...
| Clasificación: | Libro Electrónico |
|---|---|
| Autores principales: | , |
| Formato: | Electrónico eBook |
| Idioma: | Inglés |
| Publicado: |
Chichester, West Sussex, UK :
Wiley,
2018.
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| Edición: | First edition. |
| Temas: | |
| Acceso en línea: | Texto completo |
Tabla de Contenidos:
- Cover; Title Page; Copyright; Contents; Preface; List of Tables; List of Figures; Acknowledgments; Part I Formation Control: Fundamental Concepts; Chapter 1 Formation Kinematics; 1.1 Notation; 1.2 Vectorial Kinematics; 1.2.1 Frame Rotation; 1.2.2 The Motion of a Vector; 1.2.3 The First Time Derivative of a Vector; 1.2.4 The Second Time Derivative of a Vector; 1.2.5 Motion with Respect to Multiple Frames; 1.3 Euler Parameters and Unit Quaternion; Chapter 2 Formation Dynamics of Motion Systems; 2.1 Virtual Structure; 2.1.1 Formation Control Problem Statement.
- 2.1.2 Extended Formation Control Problem2.2 Behaviour-based Formation Dynamics; 2.3 Leader-Follower Formation Dynamics; Chapter 3 Fundamental Formation Control; 3.1 Unified Problem Description; 3.1.1 Some Key Definitions for Formation Control; 3.1.2 A Simple Illustrative Example; 3.2 Information Interaction Conditions; 3.2.1 Algebraic Graph Theory; 3.2.2 Conditions for the Case without a Leader; 3.2.3 Conditions for the Case with a Leader; 3.3 Synchronization Errors; 3.3.1 Local Synchronization Error: Type I; 3.3.2 Local Synchronization Error: TypeII.
- 3.3.3 Local Synchronization Error: TypeIII3.4 Velocity Synchronization Control; 3.4.1 Velocity Synchronization without a Leader; 3.4.2 Velocity Synchronization with a Leader; 3.5 Angular-position Synchronization Control; 3.5.1 Synchronization without a Position Reference; 3.5.2 Synchronization to a Position Reference; 3.6 Formation via Synchronized Tracking; 3.6.1 Formation Control Solution 1; 3.6.2 Formation Control Solution 2; 3.7 Simulations; 3.7.1 Verification of Theorem 3.12; 3.7.2 Verification of Theorem 3.13; 3.7.3 Verification of Theorem 3.14; 3.8 Summary; Bibliography.
- Part II Formation Control: Advanced TopicsChapter 4 Output-feedback Solutions to Formation Control; 4.1 Introduction; 4.2 Problem Statement; 4.3 Linear Output-feedback Control; 4.4 Bounded Output-feedback Control; 4.5 Distributed Linear Control; 4.6 Distributed Bounded Control; 4.7 Simulations; 4.7.1 Case 1: Verification of Theorem 4.1; 4.7.2 Case 2: Verification of Theorem 4.5; 4.8 Summary; Chapter 5 Robust and Adaptive Formation Control; 5.1 Problem Statement; 5.2 Continuous Control via State Feedback; 5.2.1 Controller Development; 5.2.2 Analysis of Tracker ui0.
- 5.2.3 Design of Disturbance Estimators5.2.4 Closed-loop Performance Analysis; 5.3 Bounded State Feedback Control; 5.3.1 Design of Bounded State Feedback; 5.3.2 Robustness Analysis; 5.3.3 The Effect of UDE on Stability; 5.3.4 The Effect of UDE on the Bounds of Control; 5.4 Continuous Control via Output Feedback; 5.4.1 Design of ui0 and d^i; 5.4.2 Stability Analysis; 5.5 Discontinuous Control via Output Feedback; 5.5.1 Controller Design; 5.5.2 Stability Analysis; 5.6 GSE-based Synchronization Control; 5.6.1 Coupled Errors; 5.6.2 Controller Design and Convergence Analysis.