Cooperative Control Design
A Systematic, Passivity-Based Approach
(Sprache: Englisch)
Introducing passivity as a design tool for multi-agent systems, this book provides a unified framework for multi-agent coordination problems and discusses numerous related factors such as formation control, attitude coordination, and synchronization.
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Introducing passivity as a design tool for multi-agent systems, this book provides a unified framework for multi-agent coordination problems and discusses numerous related factors such as formation control, attitude coordination, and synchronization.
Klappentext zu „Cooperative Control Design “
Cooperative Control Design: A Systematic, Passivity-Based Approach discusses multi-agent coordination problems, including formation control, attitude coordination, and synchronization. The goal of the book is to introduce passivity as a design tool for multi-agent systems, to provide exemplary work using this tool, and to illustrate its advantages in designing robust cooperative control algorithms. The discussion begins with an introduction to passivity and demonstrates how passivity can be used as a design tool for motion coordination. Followed by the case of adaptive redesigns for reference velocity recovery while describing a basic design, a modified design and the parameter convergence problem. Formation control is presented as it relates to relative distance control and relative position control. The coverage is concluded with a comprehensive discussion of agreement and the synchronization problem with an example using attitude coordination.
Cooperative Control Design: A Systematic, Passivity-Based Approach discusses multi-agent coordination problems, including formation control, attitude coordination, and agreement. The book introduces passivity as a design tool for multi-agent systems, provides exemplary work using this tool,and illustrates its advantages in designing robust cooperative control algorithms. The discussion begins with an introduction to passivity and demonstrates how passivity can be used as a design tool for motion coordination.This is followed by adaptive designs for reference velocity recovery, including a basic design and a modified design with enhanced parameter convergence properties. Formation control is presented as an example illustrating the passivity-based framework and its adaptive designs. The coverage is concluded with a comprehensive discussion of the agreement problem with examples using attitude dynamics and Euler- Lagrangian systems.
Cooperative Control Design: A Systematic, Passivity-Based Approach is an ideal volume for researchers and engineers working in control and engineering design.
Cooperative Control Design: A Systematic, Passivity-Based Approach is an ideal volume for researchers and engineers working in control and engineering design.
Inhaltsverzeichnis zu „Cooperative Control Design “
1 Introduction2 Passivity As a Design Tool for Cooperative Control
3 Adaptive Design for Reference Velocity Recovery: Internal Model Approach
4 Adaptive Design for Reference Velocity Recovery: Parameterization Approach
5 Attitude CoordinationWithout Inertial Frame Information
6 The Agreement of Euler-Lagrange Systems
7 Synchronized Path Following
8 Cooperative Load Transport
9 Caveats for Robustness
Bibliographische Angaben
- Autoren: He Bai , Murat Arcak , John Wen
- 2013, Repr. d. Ausg. v. 2011, XIV, 210 Seiten, Maße: 15,5 x 23,9 cm, Kartoniert (TB), Englisch
- Verlag: Springer, Berlin
- ISBN-10: 1461429072
- ISBN-13: 9781461429074
Sprache:
Englisch
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