E-Book, Englisch, 210 Seiten
Bai / Arcak / Wen Cooperative Control Design
1. Auflage 2011
ISBN: 978-1-4614-0014-1
Verlag: Springer
Format: PDF
Kopierschutz: 1 - PDF Watermark
A Systematic, Passivity-Based Approach
E-Book, Englisch, 210 Seiten
Reihe: Communications and Control Engineering
ISBN: 978-1-4614-0014-1
Verlag: Springer
Format: PDF
Kopierschutz: 1 - PDF Watermark
Cooperative Control Design: A Systematic, Passivity-Based Approach discusses multi-agent coordination problems, including formation control, attitude coordination, and synchronization. The goal of the book is to introduce passivity as a design tool for multi-agent systems, to provide exemplary work using this tool, and to illustrate its advantages in designing robust cooperative control algorithms. The discussion begins with an introduction to passivity and demonstrates how passivity can be used as a design tool for motion coordination. Followed by the case of adaptive redesigns for reference velocity recovery while describing a basic design, a modified design and the parameter convergence problem. Formation control is presented as it relates to relative distance control and relative position control. The coverage is concluded with a comprehensive discussion of agreement and the synchronization problem with an example using attitude coordination.
