Formation and Containment Control for High-order Linear Swarm Systems

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.

• ISBN: 978-3-6625-1719-2
• Editorial: Springer
• Encuadernacion: Rústica
• Páginas: 170
• Fecha Publicación: 18/10/2016
• Nº Volúmenes: 1
• Idioma: Inglés