Formation Control of Multi-Agent Systems : a Graph Rigidity Approach.

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Formation Control of Multi-Agent Systems: A Graph Rigidity Approach Marcio de Queiroz, Louisiana State University, USA Xiaoyu Cai, FARO Technologies, USA Matthew Feemster, U.S. Naval Academy, USA A comprehensive guide to formation control of multi-agent systems using rigid graph theory This book is...

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Detalles Bibliográficos
Clasificación:Libro Electrónico
Autor principal: De Queiroz, Marcio
Otros Autores: Cai, Xiaoyu, Feemster, Matthew
Formato: Electrónico eBook
Idioma:Inglés
Publicado: Newark : John Wiley & Sons, Incorporated, 2018.
Temas:
Technology.
Technology
Technologie.
TECHNOLOGY & ENGINEERING > Mechanical.
Acceso en línea:Texto completo
Tabla de Contenidos:
  • Cover; Title Page; Copyright; Contents; Preface; About the Companion Website; Chapter 1 Introduction; 1.1 Motivation; 1.2 Notation; 1.3 Graph Theory; 1.3.1 Graph; 1.3.2 Framework; 1.3.3 Rigid Graphs; 1.3.4 Infinitesimal Rigidity; 1.3.5 Minimal Rigidity; 1.3.6 Framework Ambiguities; 1.3.7 Global Rigidity; 1.4 Formation Control Problems; 1.5 Book Overview and Organization; 1.6 Notes and References; Chapter 2 Single-Integrator Model; 2.1 Formation Acquisition; 2.2 Formation Maneuvering; 2.3 Flocking; 2.3.1 Constant Flocking Velocity; 2.3.2 Time-Varying Flocking Velocity
  • 2.4 Target Interception with Unknown Target Velocity2.5 Dynamic Formation Acquisition; 2.6 Simulation Results; 2.6.1 Formation Acquisition; 2.6.2 Formation Maneuvering; 2.6.3 Flocking; 2.6.4 Target Interception; 2.6.5 Dynamic Formation; 2.7 Notes and References; Chapter 3 Double-Integrator Model; 3.1 Cross-Edge Energy; 3.2 Formation Acquisition; 3.3 Formation Maneuvering; 3.4 Target Interception with Unknown Target Acceleration; 3.5 Dynamic Formation Acquisition; 3.6 Simulation Results; 3.6.1 Formation Acquisition; 3.6.2 Dynamic Formation Acquisition with Maneuvering
  • 3.6.3 Target Interception3.7 Notes and References; Chapter 4 Robotic Vehicle Model; 4.1 Model Description; 4.2 Nonholonomic Kinematics; 4.2.1 Control Design; 4.2.2 Simulation Results; 4.3 Holonomic Dynamics; 4.3.1 Model-Based Control; 4.3.2 Adaptive Control; 4.3.3 Simulation Results; 4.4 Notes and References; Chapter 5 Experimentation; 5.1 Experimental Platform; 5.2 Vehicle Equations of Motion; 5.3 Low-Level Control Design; 5.4 Experimental Results; 5.4.1 Single Integrator: Formation Acquisition; 5.4.2 Single Integrator: Formation Maneuvering; 5.4.3 Single Integrator: Target Interception
  • 5.4.4 Single Integrator: Dynamic Formation5.4.5 Double Integrator: Formation Acquisition; 5.4.6 Double Integrator: Formation Maneuvering; 5.4.7 Double Integrator: Target Interception; 5.4.8 Double Integrator: Dynamic Formation; 5.4.9 Holonomic Dynamics: Formation Acquisition; 5.4.10 Summary; Appendix A Matrix Theory and Linear Algebra; Appendix B Functions and Signals; Appendix C Systems Theory; C.1 Linear Systems; C.2 Nonlinear Systems; C.3 Lyapunov Stability; C.4 Input-to-State Stability; C.5 Nonsmooth Systems; C.6 Integrator Backstepping; Appendix D Dynamic Model Terms; References; Index

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