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Formation Control of Multi-Agent Systems

Author Matthew Feemster , Xiaoyu Cai , Marcio de Queiroz
Release Date: 2019/04/01
ISBN: 9781118887448
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Book Description

Formation Control of Multi-Agent Systems: A Graph Rigidity Approach

Marcio de Queiroz, Louisiana State University, USA

Xiaoyu Cai, FARO Technologies, USA

Matthew Feemster, U.S. Naval Academy, USA

 

A comprehensive guide to formation control of multi-agent systems using rigid graph theory

 

This book is the first to provide a comprehensive and unified treatment of the subject of graph rigidity-based formation control of multi-agent systems. Such systems are relevant to a variety of emerging engineering applications, including unmanned robotic vehicles and mobile sensor networks. Graph theory, and rigid graphs in particular, provides a natural tool for describing the multi-agent formation shape as well as the inter-agent sensing, communication, and control topology.

Beginning with an introduction to rigid graph theory, the contents of the book are organized by the agent dynamic model (single integrator, double integrator, and mechanical dynamics) and by the type of formation problem (formation acquisition, formation manoeuvring, and target interception). The book presents the material in ascending level of difficulty and in a self-contained manner; thus, facilitating reader understanding.

Key features:

 

  • Uses the concept of graph rigidity as the basis for describing the multi-agent formation geometry and solving formation control problems.
  • Considers different agent models and formation control problems.
  • Control designs throughout the book progressively build upon each other.
  • Provides a primer on rigid graph theory.
  • Combines theory, computer simulations, and experimental results.
 
 

 

Formation Control of Multi-Agent Systems: A Graph Rigidity Approach is targeted at researchers and graduate students in the areas of control systems and robotics. Prerequisite knowledge includes linear algebra, matrix theory, control systems, and nonlinear systems.

Table of Contents

  1. Cover
  2. Preface
  3. About the Companion Website
  4. 1 Introduction
    1. 1.1 Motivation
    2. 1.2 Notation
    3. 1.3 Graph Theory
    4. 1.4 Formation Control Problems
    5. 1.5 Book Overview and Organization
    6. 1.6 Notes and References
  5. 2 Single‐Integrator Model
    1. 2.1 Formation Acquisition
    2. 2.2 Formation Maneuvering
    3. 2.3 Flocking
    4. 2.4 Target Interception with Unknown Target Velocity
    5. 2.5 Dynamic Formation Acquisition
    6. 2.6 Simulation Results
    7. 2.7 Notes and References
  6. 3 Double‐Integrator Model
    1. 3.1 Cross‐Edge Energy
    2. 3.2 Formation Acquisition
    3. 3.3 Formation Maneuvering
    4. 3.4 Target Interception with Unknown Target Acceleration
    5. 3.5 Dynamic Formation Acquisition
    6. 3.6 Simulation Results
    7. 3.7 Notes and References
  7. 4 Robotic Vehicle Model
    1. 4.1 Model Description
    2. 4.2 Nonholonomic Kinematics
    3. 4.3 Holonomic Dynamics
    4. 4.4 Notes and References
  8. 5 Experimentation
    1. 5.1 Experimental Platform
    2. 5.2 Vehicle Equations of Motion
    3. 5.3 Low‐Level Control Design
    4. 5.4 Experimental Results
  9. Appendix A: Matrix Theory and Linear Algebra
  10. Appendix B: Functions and Signals
  11. Appendix C: Systems Theory
    1. C.1 Linear Systems
    2. C.2 Nonlinear Systems
    3. C.3 Lyapunov Stability
    4. C.4 Input‐to‐State Stability
    5. C.5 Nonsmooth Systems
    6. C.6 Integrator Backstepping
  12. Appendix D: Dynamic Model Terms
  13. References
  14. Index
  15. End User License Agreement
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