Sun Cooperative Coordination and Formation Control for Multi-agent Systems

1. Auflage 2018
ISBN: 978-3-319-74265-6
Verlag: Springer International Publishing
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 179 Seiten, eBook

Reihe: Springer Theses

The thesis presents new results on multi-agent formation control, focusing on the distributed stabilization control of rigid formation shapes. It analyzes a range of current research problems such as problems concerning the equilibrium and stability of formation control systems, or the problem of cooperative coordination control when agents have general dynamical models, and discusses practical considerations arising during the implementation of established formation control algorithms.  In addition, the thesis presents models of increasing complexity, from single integrator models, to double integrator models, to agents modeled by nonlinear kinematic and dynamic equations, including the familiar unicycle model and nonlinear system equations with drift terms. Presenting the fruits of a close collaboration between several top control groups at leading universities including Yale University, Groningen University, Purdue University and Gwangju Institute of Science and Technology (GIST), the thesis spans various research areas, including robustness issues in formations, quantization-based coordination, exponential stability in formation systems, and cooperative coordination of networked heterogeneous systems.

Zielgruppe

Research

Autoren/Hrsg.

Sun, Zhiyong

Inhaltsverzeichnis

Introduction.- Theoretical preliminaries.- Invariance principles and equilibrium analysis for formation shape control systems.- Exponential stability for formation control systems with generalized controllers.- Formation Control Systems: Some Practical Considerations.- Distributed stabilization control of rigid formations with prescribed orientations.- Formation feasibility and motion generation of networkedheterogeneous systems.