Formation and Containment Control for High-order Linear Swarm Systems [electronic resource] /
Dong, Xiwang.author.
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.
Description based upon print version of record.
Thesis (Ph. D.)--Tsinghua University, 2016.
Includes bibliographical references and index.
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.
Control engineering.
System theory.
Artificial intelligence.
Control and Systems Theory.
Systems Theory, Control.
Complex Systems.
Artificial Intelligence.