Formation And Containment Control For High Order Linear Swarm Systems
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Formation and Containment Control for High-order Linear Swarm Systems
Author | : Xiwang Dong |
Publisher | : Springer |
Total Pages | : 182 |
Release | : 2015-07-18 |
Genre | : Technology & Engineering |
ISBN | : 3662478366 |
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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.
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