
Closer Look at Formation Control
Description
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Content
- Intro
- Contents
- Preface
- Chapter 1
- Modeling of Leader-Follower Formations
- Abstract
- Introduction
- Modeling of a Single Robot
- Modeling of a Leader-Follower Pair
- Conclusion
- Appendix
- References
- Chapter 2
- 1st-Order Sliding Mode-Based Formation Design
- Abstract
- Introduction
- Modeling the Leader-Following Formation
- Formation Design
- Formation Design
- Design of Sliding Mode Controller Based on NDOB
- Stability Analysis
- Simulation Results
- String Formation Moving in a Circular Trajectory
- Transformation Moving in a Straight Trajectory
- Conclusion
- References
- Chapter 3
- Coordinated Formation via an Adaptive-Gain 2nd-Order Sliding Mode Method
- Abstract
- Introduction
- Formation Modeling
- Closed-Loop Control Design
- Sliding Mode Design and Its Input-Output Dynamics
- Adaptive-Gain Super-Twisting Sliding Mode Design
- Stability Analysis of the Closed-Loop Control System
- Implementation
- Multi-Robot Simulation Platform
- Simulation Results
- Conclusion
- References
- Chapter 4
- Integral Sliding Mode-Based Formation Maneuvers of Multi-Agent Robots
- Abstract
- Introduction
- Mathematical Model
- Design and Closed-Loop Stability
- Control Design for the Followers
- Control Design for the Leader
- Numerical Results
- Simulation Platform
- Circle Trajectory
- Conclusion
- References
- Chapter 5
- Leader-Following Formation Control of Multiple Agents via Derivative and Integral Terminal Sliding Mode
- Abstract
- Introduction
- Problem Formulation
- Control Design
- Relative Degree
- Controller Design
- DIT-SMC Design Based NDOB
- Numerical Simulations
- Conclusion
- References
- Chapter 6
- Extreme Learning Machine-Based Sliding Mode Formation Maneuvers for Multi-Robot Systems
- Abstract
- Introduction
- Dynamics
- Formation Design
- Sliding Surfaces and Input-Output Dynamics
- Super-Twisting Sliding Mode Control Design
- Super-Twisting Sliding Mode Control Design via ELM
- Numerical Results
- Multi-Robot Platform
- Formation Tasks
- Conclusion
- References
- Chapter 7
- Formation Design of Multiple Agents with Uncertainties by Integral Sliding Mode
- Abstract
- Introduction
- Modeling
- One Single Agent
- Communication Topologies
- Formation Design
- NDO-Based Observer Design
- Integral SMC-Based Controller Design
- System Structure
- Stability Analysis
- Simulation Results
- Conclusion
- References
- Chapter 8
- A Fuzzy Logic-Based Adaptive Strictly Negative-Imaginary Formation Controller for Multi-Quadrotor Systems
- Abstract
- Introduction
- Unmanned Aerial Vehicles: Hardware and Software
- System Identification
- NI Systems Theory
- SNI/NI Systems Theory
- Graph Theory
- Fixed-Gain NI Formation Control Strategy Based on the Relative Position Consensus
- Adaptive SNI Formation Control Approach using Fuzzy Logic
- SNI Relative-Position Consensus Controller
- Takagi-Sugeno Fuzzy Inference System
- Adaptive Fuzzy-Strictly Negative Imaginary Formation Control Strategy Design
- Simulation Tests without Added Wind Gusts
- Simulation Setup
- Simulation Outcomes
- Experimental Results with Wind Gust Disturbances
- Experimental Configuration
- Experimental Results
- Conclusion
- References
- About the Editor
- Index
- Blank Page
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