Formation and Containment Control for High-order Linear Swarm Systems
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Beschreibung
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.
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.
Nominated by Tsinghua University as an outstanding Ph.D. thesis Proposes necessary and sufficient conditions for high-order linear time-invariant swarm systems to achieve time-varying state/output formations and containment Presents autonomous time-varying formation experiments using five quadrotor unmanned air vehicles (UAVs) in an outdoor setting Demonstrates that consensus control, consensus tracking control, formation control and containment control problems can be unified in the framework of formation-containment control problems Includes supplementary material: sn.pub/extras
Autor*in
Xiwang Dong
Themen in »Formation and Containment Control for High-order Linear Swarm Systems«
Consensus control Containment control Formation control Formation-containment control High-order linear time-invariant (LTI) Multi-agent system Quadrotor unmanned air vehicle (UAV) Swarm system
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“The book under review is an excellent Ph. D. dissertation on the topic of formation and containment control for high-order linear swarm systems. … The book is well organized, precise, interesting, and readable even for the reader with a moderate engineering background. It can be regarded as a very good reference book for scholars and students who are interested in swarm systems control.” (Yun Zou, Mathematical Reviews, October, 2016)
“This is an interesting book published as a version of a PhD thesis. It focuses on the analytics of fundamental aspects of swarm robots modeled as multiagent systems, where individual and collective behaviors of the swarms play key roles in the success of the systems.” (Mehmet Aydin, Computing Reviews, April, 2016)
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