By Xiwang Dong
This booklet specializes in research and layout difficulties for high-order linear time-invariant (LTI) swarm structures (multi-agent platforms) to accomplish consensus, formation, containment and formation-containment. As a primary step, the strategies of functional consensus and formation-containment are brought. in contrast to earlier study, the formation during this e-book might be time-varying. A basic framework for consensus, consensus monitoring, formation, containment and country formation-containment is gifted for the 1st time.
Sufficient/necessary and adequate stipulations, and ways to designing the protocols for swarm platforms to accomplish those regulate goals, are respectively proposed. self sufficient time-varying formation experiments utilizing 5 quadrotor unmanned aerial autos (UAVs) are carried out in an outside atmosphere to illustrate the theoretical results.
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Extra resources for Formation and Containment Control for High-order Linear Swarm Systems (Springer Theses)
In: Proceedings of the 2006 AIAA guidance, Navigation, and Control conference, pp 459–473 95. Sharma RK, Ghose D (2009) Collision avoidance between UAV clusters using swarm intelligence techniques. Int J Syst Sci 40(5):521–538 96. Kim S, Kim Y (2009) Optimum design of three-dimensional behavioural decentralized controller for UAV formation flight. Eng Optimiz 41(3):199–224 97. Linorman NHM, Liu HHT (2008) Formation UAV flight control using virtual structure and motion synchronization. In: Proceedings of the 2008 American control conference, pp 1782– 1787 98.
Syst Control Lett 57(8):643–653 31. Bliman PA, Ferrari-Trecate G (2008) Average consensus problems in networks of agents with delayed communications. Automatica 44(8):1985–1995 32. Tian YP, Liu CL (2008) Consensus of multi-agent systems with diverse input and communication delays. IEEE Trans Autom Control 53(9):2122–2128 33. Xiao F, Wang L (2006) State consensus for multi-agent systems with switching topologies and time-varying delays. Int J Control 79(10):1277–1284 34. Sun YG, Wang L, Xie GM (2008) Average consensus in networks of dynamic agents with switching topologies and multiple time-varying delays.
5. The main problems studied in this thesis are shown in Fig. 6. 2 Outline of This Thesis This thesis includes seven chapters. Chapter 1 Introduction The scientific and engineering background of formation and containment control, literature review, the main contents and outline of the thesis are summarized. Chapter 2 Preliminaries Basic definitions and preliminary results on graph theory, consensus decomposition of linear space theory, matrix theory, linear system theory and singular system theory are introduced.