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Formation and Containment Control for High-order Linear Swarm Systems

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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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Series Title

Springer Theses

Call Number

-

Publisher

Berlin : Springer., 2015

Collation

XIX, 170 pages

Language

English

ISBN/ISSN

978-3-662-47836-3

Classification

NONE

Content Type

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Media Type

computer

Carrier Type

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Edition

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Subject(s)

Control and Systems Theory

Specific Detail Info

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Statement of Responsibility

Xiwang Dong

Other Information

Cataloger

Jemadi

Source

-

Validator

Jemadi

Digital Object Identifier (DOI)

-

Journal Volume

-

Journal Issue

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Subtitle

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