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Formation and Containment Control for High-order Linear Swarm Systems [electronic resource] / by Xiwang Dong.

By: Dong, Xiwang [author.].
Contributor(s): SpringerLink (Online service).
Material type: materialTypeLabelBookSeries: Springer Theses, Recognizing Outstanding Ph.D. Research: Publisher: Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2016Description: XIX, 170 p. 41 illus., 27 illus. in color. online resource.Content type: text Media type: computer Carrier type: online resourceISBN: 9783662478363.Subject(s): Engineering | Artificial intelligence | System theory | Control engineering | Engineering | Control | Systems Theory, Control | Complex Systems | Artificial Intelligence (incl. Robotics)Additional physical formats: Printed edition:: No titleDDC classification: 629.8 Online resources: Click here to access online
Contents:
Introduction -- Preliminaries -- Consensus control of swarm systems -- Formation control of swarm systems -- Containment control of swarm systems -- Formation-containment control of swarm systems -- Conclusions and future work.
In: Springer eBooksSummary: 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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Introduction -- Preliminaries -- Consensus control of swarm systems -- Formation control of swarm systems -- Containment control of swarm systems -- Formation-containment control of swarm systems -- Conclusions and future work.

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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