Formation Control: Approaches for Distributed Agents

Description

This monograph introduces recent developments in formation control of distributed-agent systems. Eschewing the traditional concern with the dynamic characteristics of individual agents, the book proposes a treatment that studies the formation control problem in terms of interactions among agents including factors such as sensing topology, communication and actuation topologies, and computations. Keeping pace with recent technological advancements in control, communications, sensing and computation that have begun to bring the applications of distributed-systems theory out of the industrial sphere and into that of day-to-day life, this monograph provides distributed control algorithms for a group of agents that may behave together. Unlike traditional control laws that usually require measurements with respect to a global coordinate frame and communications between a centralized operation center and agents, this book provides control laws that require only relative measurements and communications between agents without interaction with a centralized operator. Since the control algorithms presented in this book do not require any global sensing and any information exchanges with a centralized operation center, they can be realized in a fully distributed way, which significantly reduces the operation and implementation costs of a group of agents. Formation Control will give both students and researchers interested in pursuing this field a good grounding on which to base their work. Front Matter ....Pages i-xx Front Matter ....Pages 1-1 Preliminary Background (Hyo-Sung Ahn)....Pages 3-26 Mathematical Background (Hyo-Sung Ahn)....Pages 27-60 Front Matter ....Pages 61-61 Global Stabilization (Hyo-Sung Ahn)....Pages 63-96 Local Stabilization (Hyo-Sung Ahn)....Pages 97-116 Persistent Formations (Hyo-Sung Ahn)....Pages 117-139 Front Matter ....Pages 141-141 Formation Control via Orientation Alignment (Hyo-Sung Ahn)....Pages 143-164 Formation Control via Orientation and Position Estimation (Hyo-Sung Ahn)....Pages 165-183 Formation Control via Global Orientation Alignment (Hyo-Sung Ahn)....Pages 185-217 Front Matter ....Pages 219-219 Formation Control via Bearing Measurements (Hyo-Sung Ahn)....Pages 221-254 Bearing-Based Formation Control via Global Orientation Alignment (Hyo-Sung Ahn)....Pages 255-268 Front Matter ....Pages 269-269 Moving Formation (Hyo-Sung Ahn)....Pages 271-295 K(n) Formation and Resizing (Hyo-Sung Ahn)....Pages 297-319 Network Localization (Hyo-Sung Ahn)....Pages 321-337 Back Matter ....Pages 339-360