Formation Control of Multi-Agent Systems

A Graph Rigidity Approach
 
 
Wiley (Verlag)
  • 1. Auflage
  • |
  • erschienen am 31. Dezember 2018
  • |
  • 208 Seiten
 
E-Book | PDF mit Adobe-DRM | Systemvoraussetzungen
978-1-118-88747-9 (ISBN)
 
Formation Control of Multi-Agent Systems: A Graph Rigidity Approach Marcio de Queiroz, Louisiana State University, USA Xiaoyu Cai, FARO Technologies, USA Matthew Feemster, U.S. Naval Academy, USA A comprehensive guide to formation control of multi-agent systems using rigid graph theory This book is the first to provide a comprehensive and unified treatment of the subject of graph rigidity-based formation control of multi-agent systems. Such systems are relevant to a variety of emerging engineering applications, including unmanned robotic vehicles and mobile sensor networks. Graph theory, and rigid graphs in particular, provides a natural tool for describing the multi-agent formation shape as well as the inter-agent sensing, communication, and control topology. Beginning with an introduction to rigid graph theory, the contents of the book are organized by the agent dynamic model (single integrator, double integrator, and mechanical dynamics) and by the type of formation problem (formation acquisition, formation manoeuvring, and target interception). The book presents the material in ascending level of difficulty and in a self-contained manner; thus, facilitating reader understanding. Key features: * Uses the concept of graph rigidity as the basis for describing the multi-agent formation geometry and solving formation control problems. * Considers different agent models and formation control problems. * Control designs throughout the book progressively build upon each other. * Provides a primer on rigid graph theory. * Combines theory, computer simulations, and experimental results. Formation Control of Multi-Agent Systems: A Graph Rigidity Approach is targeted at researchers and graduate students in the areas of control systems and robotics. Prerequisite knowledge includes linear algebra, matrix theory, control systems, and nonlinear systems.
weitere Ausgaben werden ermittelt
  • Cover
  • Title Page
  • Copyright
  • Contents
  • Preface
  • About the Companion Website
  • Chapter 1 Introduction
  • 1.1 Motivation
  • 1.2 Notation
  • 1.3 Graph Theory
  • 1.3.1 Graph
  • 1.3.2 Framework
  • 1.3.3 Rigid Graphs
  • 1.3.4 Infinitesimal Rigidity
  • 1.3.5 Minimal Rigidity
  • 1.3.6 Framework Ambiguities
  • 1.3.7 Global Rigidity
  • 1.4 Formation Control Problems
  • 1.5 Book Overview and Organization
  • 1.6 Notes and References
  • Chapter 2 Single-Integrator Model
  • 2.1 Formation Acquisition
  • 2.2 Formation Maneuvering
  • 2.3 Flocking
  • 2.3.1 Constant Flocking Velocity
  • 2.3.2 Time-Varying Flocking Velocity
  • 2.4 Target Interception with Unknown Target Velocity
  • 2.5 Dynamic Formation Acquisition
  • 2.6 Simulation Results
  • 2.6.1 Formation Acquisition
  • 2.6.2 Formation Maneuvering
  • 2.6.3 Flocking
  • 2.6.4 Target Interception
  • 2.6.5 Dynamic Formation
  • 2.7 Notes and References
  • Chapter 3 Double-Integrator Model
  • 3.1 Cross-Edge Energy
  • 3.2 Formation Acquisition
  • 3.3 Formation Maneuvering
  • 3.4 Target Interception with Unknown Target Acceleration
  • 3.5 Dynamic Formation Acquisition
  • 3.6 Simulation Results
  • 3.6.1 Formation Acquisition
  • 3.6.2 Dynamic Formation Acquisition with Maneuvering
  • 3.6.3 Target Interception
  • 3.7 Notes and References
  • Chapter 4 Robotic Vehicle Model
  • 4.1 Model Description
  • 4.2 Nonholonomic Kinematics
  • 4.2.1 Control Design
  • 4.2.2 Simulation Results
  • 4.3 Holonomic Dynamics
  • 4.3.1 Model-Based Control
  • 4.3.2 Adaptive Control
  • 4.3.3 Simulation Results
  • 4.4 Notes and References
  • Chapter 5 Experimentation
  • 5.1 Experimental Platform
  • 5.2 Vehicle Equations of Motion
  • 5.3 Low-Level Control Design
  • 5.4 Experimental Results
  • 5.4.1 Single Integrator: Formation Acquisition
  • 5.4.2 Single Integrator: Formation Maneuvering
  • 5.4.3 Single Integrator: Target Interception
  • 5.4.4 Single Integrator: Dynamic Formation
  • 5.4.5 Double Integrator: Formation Acquisition
  • 5.4.6 Double Integrator: Formation Maneuvering
  • 5.4.7 Double Integrator: Target Interception
  • 5.4.8 Double Integrator: Dynamic Formation
  • 5.4.9 Holonomic Dynamics: Formation Acquisition
  • 5.4.10 Summary
  • Appendix A Matrix Theory and Linear Algebra
  • Appendix B Functions and Signals
  • Appendix C Systems Theory
  • C.1 Linear Systems
  • C.2 Nonlinear Systems
  • C.3 Lyapunov Stability
  • C.4 Input-to-State Stability
  • C.5 Nonsmooth Systems
  • C.6 Integrator Backstepping
  • Appendix D Dynamic Model Terms
  • References
  • Index
  • EULA

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