Erschienen: 30.07.2015 Abbildung von Dong | Formation and Containment Control for High-order Linear Swarm Systems | 1st ed. 2016 | 2015

Dong

Formation and Containment Control for High-order Linear Swarm Systems

Buch. Hardcover

1st ed. 2016. 2015

xix, 170 S.

Springer. ISBN 978-3-662-47835-6

Format (B x L): 15,5 x 23,5 cm

Gewicht: 455 g

Das Werk ist Teil der Reihe: Springer Theses

Produktbeschreibung

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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