Formation and Containment Control for High-order Linear Swarm Systems
Xiwang Dong, "Formation and Containment Control for High-order Linear Swarm Systems"
English | ISBN: 3662478358 | 2015 | 170 pages | PDF | 5 MB
English | ISBN: 3662478358 | 2015 | 170 pages | PDF | 5 MB
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.