ENGLISH

Formation and Containment Control for High-order Linear Swarm Systems

By Xiwang Dong (auth.)

Book information

Publisher
Springer-Verlag Berlin Heidelberg
Year
2016
ISBN
978-3-662-47835-6, 978-3-662-47836-3
DOI
10.1007/978-3-662-47836-3
Language
english
Format
PDF
Filesize
5 MB (5156424 bytes)
Series
Springer Theses
Edition
1
Pages
XIX, 170\182
Time added
2015-11-25 16:51:03
Control; Complex Systems; Artificial IntelligenceControl; Systems Theory

Description

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.

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