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...

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Bibliographic Details
Main Author: Dong, Xiwang (Author)
Corporate Author: SpringerLink (Online service)
Format: e-Book
Language:English
Published: Berlin, Heidelberg : Springer Berlin Heidelberg : 2016.
Imprint: Springer,
Edition:1st ed. 2016.
Series:Springer Theses, Recognizing Outstanding Ph.D. Research,
Subjects:
Control engineering.
System theory.
Control theory.
Artificial intelligence.
Control and Systems Theory.
Systems Theory, Control.
Complex Systems.
Artificial Intelligence.
Online Access:Full-text access
Description
Summary: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.
Physical Description:XIX, 170 p. 41 illus., 27 illus. in color. online resource.
ISBN:9783662478363
ISSN:2190-5061
DOI:10.1007/978-3-662-47836-3

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