Dong, Xiwang.

Formation and Containment Control for High-order Linear Swarm Systems [electronic resource] / by Xiwang Dong. - 1st ed. 2016. - XIX, 170 p. 41 illus., 27 illus. in color. online resource. - Springer Theses, Recognizing Outstanding Ph.D. Research, 2190-5061 . - Springer Theses, Recognizing Outstanding Ph.D. Research, .

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.

9783662478363

10.1007/978-3-662-47836-3 doi


Control engineering.
System theory.
Control theory.
Artificial intelligence.
Control and Systems Theory.
Systems Theory, Control .
Complex Systems.
Artificial Intelligence.

TJ212-225

629.8312 003