| Description |
1 online resource (xxii, 179 pages) : color illustrations |
| Series |
Springer theses, 2190-5053 |
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Springer theses, 2190-5053
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| Contents |
Intro; Supervisorâ#x80;#x99;s Foreword; Parts of this thesis have been published in the following articlesRefereed Journal PapersZ. Sun, S. Mou, B.D.O. Anderson, and A.S. Morse. Rigid motions of 3-D undirected formations with mismatch between desired distances. IEEE Transactions on Automatic Control, vol. 62, No. 8, pp. 4151â#x80;#x93;4158, 2017.Z. Sun, M.-C. Park, B.D.O. Anderson, and H.-S. Ahn. Distributed stabilization control of rigid formations with prescribed orientation. Automatica, vol. 78, No. 4, pp. 250â#x80;#x93;257, 2017. Full versio; Acknowledgements; Contents; 1 Introduction |
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1.1 Research Background: Cooperative Control and Networked Systems1.2 Introduction and Literature Review; 1.2.1 Different Approaches on Formation Shape Control; 1.2.2 Coordinate Frame Requirement in Formation Control; 1.2.3 Equilibrium and Stability Analysis on Rigid Formation Control Systems; 1.2.4 Some Practical Issues in Rigid Formation Control; 1.2.5 Agent Dynamical Model: Beyond Single-Integrator Models; 1.3 Thesis Outline and Statements of Collaborations; References; 2 Theoretical Preliminaries; 2.1 Notations; 2.2 Preliminary on Graph Theory; 2.3 Preliminary on Rigidity Theory |
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2.3.1 Definitions and Properties2.3.2 Rigidity Matrix and Related Results; 2.4 Gradient Systems; 2.4.1 Definitions and Properties; 2.4.2 Real Analyticity and Local Minimum; 2.5 Gradient Descent Control Law for Rigid Formation Stabilization; References; Part I Formation Control Systems: Equilibrium and Stability Analysis; 3 Invariance Principles and Equilibrium Analysis for Formation Shape Control Systems; 3.1 Introduction; 3.1.1 Background and Related Work; 3.1.2 Chapter Organization; 3.2 Problem Setup and Motion Equations; 3.3 Rank-Preserving Property for Formation Systems |
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3.3.1 Proof of the Rank-Preserving Property3.3.2 Consequences of the Rank-Preserving Property; 3.4 Stability Analysis for Degenerate Equilibria; 3.4.1 The Equilibrium Set; 3.4.2 Eigenvalue Property of E and the Hessian; 3.4.3 Degenerate Equilibria are Unstable; 3.5 Concluding Remarks; 3.6 Appendix: Background on Rank-Preserving Matrix Flow; References; 4 Exponential Stability for Formation Control Systems with Generalized Controllers; 4.1 Introduction; 4.1.1 Background and Related Work; 4.1.2 Chapter Organization; 4.2 Exponential Stability for Minimally Rigid Formations |
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4.2.1 Review of Special Controllers in the Literature4.2.2 Convergence Analysis; 4.2.3 Properties of the Formation Control System with Generalized Controllers; 4.3 Exponential Stability for Non-minimally Rigid Formations; 4.4 Simulation Examples; 4.5 Concluding Remarks; References; Part II Formation Control Systems: Some Practical Considerations; 5 Robustness Issues for 3-D Undirected Formations with Distance Mismatches; 5.1 Introduction; 5.1.1 Background and Related Work; 5.1.2 Chapter Organization; 5.2 Motion Equations with Distance Mismatches |
| Summary |
The thesis presents new results on multi-agent formation control, focusing on the distributed stabilization control of rigid formation shapes. It analyzes a range of current research problems such as problems concerning the equilibrium and stability of formation control systems, or the problem of cooperative coordination control when agents have general dynamical models, and discusses practical considerations arising during the implementation of established formation control algorithms. In addition, the thesis presents models of increasing complexity, from single integrator models, to double integrator models, to agents modeled by nonlinear kinematic and dynamic equations, including the familiar unicycle model and nonlinear system equations with drift terms. Presenting the fruits of a close collaboration between several top control groups at leading universities including Yale University, Groningen University, Purdue University and Gwangju Institute of Science and Technology (GIST), the thesis spans various research areas, including robustness issues in formations, quantization-based coordination, exponential stability in formation systems, and cooperative coordination of networked heterogeneous systems |
| Notes |
"Doctoral thesis accepted by The Australian National University, Canberra, Australia." |
| Bibliography |
Includes bibliographical references |
| Notes |
Online resource; title from PDF title page (SpringerLink, viewed February 27, 2018) |
| Subject |
Multiagent systems.
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Artificial intelligence.
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Automatic control engineering.
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COMPUTERS -- General.
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Multiagent systems
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| Form |
Electronic book
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| ISBN |
9783319742656 |
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3319742655 |
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