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Formation and Containment Control for High-order Linear Swarm Systems

Formation and Containment Control for High-order Linear Swarm Systems by Xiwang Dong
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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.

Springer Berlin Heidelberg; July 2015
182 pages; ISBN 9783662478363
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Title: Formation and Containment Control for High-order Linear Swarm Systems
Author: Xiwang Dong
 
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ISBNs
9783662478356
9783662478363