Formation and Containment Control for High-order Linear Swarm Systems

von Xiwang Dong

170 Seiten, Hardcover

Kurzbeschreibung des Verlags

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.

• Reihe: Springer Theses
• Themen: Technologie, Ingenieurswissenschaft, Landwirtschaft, Industrieprozesse Elektronik, Nachrichtentechnik Elektronik Regelungstechnik
• ISBN: 9783662478356
• Sprache: Englisch
• Erscheinungsdatum: 30.07.2015
• Größe: 23.5 x 15.5 cm
• Verlag: Springer Berlin