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Book Description

This text explores formation control of vehicle systems and introduces three representative systems: space systems, aerial systems and robotic systems

Formation Control of Multiple Autonomous Vehicle Systems offers a review of the core concepts of dynamics and control and examines the dynamics and control aspects of formation control in order to study a wide spectrum of dynamic vehicle systems such as spacecraft, unmanned aerial vehicles and robots. The text puts the focus on formation control that enables and stabilizes formation configuration, as well as formation reconfiguration of these vehicle systems. The authors develop a uniform paradigm of describing vehicle systems’ dynamic behaviour that addresses both individual vehicle’s motion and overall group’s movement, as well as interactions between vehicles.

The authors explain how the design of proper control techniques regulate the formation motion of these vehicles and the development of a system level decision-making strategy that increases the level of autonomy for the entire group of vehicles to carry out their missions. The text is filled with illustrative case studies in the domains of space, aerial and robotics.

•    Contains uniform coverage of "formation" dynamic systems development

•    Presents representative case studies in selected applications in the space, aerial and robotic systems domains

•    Introduces an experimental platform of using laboratory three-degree-of-freedom helicopters with step-by-step instructions as an example

•    Provides open source example models and simulation codes

•    Includes notes and further readings that offer details on relevant research topics, recent progress and further developments in the field

Written for researchers and academics in robotics and unmanned systems looking at motion synchronization and formation problems, Formation Control of Multiple Autonomous Vehicle Systems is a vital resource that explores the motion synchronization and formation control of vehicle systems as represented by three representative systems: space systems, aerial systems and robotic systems.

Table of Contents

  1. Cover
  2. Dedication
  3. Preface
    1. Background
    2. Contents of the Book
    3. Curriculum
  4. List of Tables
  5. List of Figures
  6. Acknowledgments
  7. Part I Formation Control: Fundamental Concepts
    1. Chapter 1: Formation Kinematics
      1. 1.1 Notation
      2. 1.2 Vectorial Kinematics
      3. 1.3 Euler Parameters and Unit Quaternion
    2. Chapter 2: Formation Dynamics of Motion Systems
      1. 2.1 Virtual Structure
      2. 2.2 Behaviour‐based Formation Dynamics
      3. 2.3 Leader–Follower Formation Dynamics
    3. Chapter 3: Fundamental Formation Control
      1. 3.1 Unified Problem Description
      2. 3.2 Information Interaction Conditions
      3. 3.3 Synchronization Errors
      4. 3.4 Velocity Synchronization Control
      5. 3.5 Angular‐position Synchronization Control
      6. 3.6 Formation via Synchronized Tracking
      7. 3.7 Simulations
      8. 3.8 Summary
      9. Bibliography
  8. Part II: Formation Control: Advanced Topics
    1. Chapter 4: Output‐feedback Solutions to Formation Control
      1. 4.1 Introduction
      2. 4.2 Problem Statement
      3. 4.3 Linear Output‐feedback Control
      4. 4.4 Bounded Output‐feedback Control
      5. 4.5 Distributed Linear Control
      6. 4.6 Distributed Bounded Control
      7. 4.7 Simulations
      8. 4.8 Summary
    2. Chapter 5: Robust and Adaptive Formation Control
      1. 5.1 Problem Statement
      2. 5.2 Continuous Control via State Feedback
      3. 5.3 Bounded State Feedback Control
      4. 5.4 Continuous Control via Output Feedback
      5. 5.5 Discontinuous Control via Output Feedback
      6. 5.6 GSE‐based Synchronization Control
      7. 5.7 GSE‐based Adaptive Formation Control
      8. 5.8 Summary
      9. Bibliography
  9. Part III: Formation Control: Case Studies
    1. Chapter 6: Formation Control of Space Systems
      1. 6.1 Lagrangian Formulation of Spacecraft Formation
      2. 6.2 Adaptive Formation Control
      3. 6.3 Applications and Simulation Results
      4. 6.4 Summary
    2. Chapter 7: Formation Control of Aerial Systems
      1. 7.1 Vortex‐induced Aerodynamics
      2. 7.2 Aircraft Autopilot Models
      3. 7.3 Controller Design
      4. 7.4 Simulation Results
      5. 7.5 Summary
    3. Chapter 8: Formation Control of Robotic Systems
      1. 8.1 Introduction
      2. 8.2 Visual Tracking
      3. 8.3 Synchronization Control
      4. 8.4 Passivity Control
      5. 8.5 Experiments
      6. 8.6 Summary
      7. Bibliography
  10. Part IV: Formation Control: Laboratory
    1. Chapter 9: Experiments on 3DOF Desktop Helicopters
      1. 9.1 Description of the Experimental Setup
      2. 9.2 Mathematical Models
      3. 9.3 Experiment 1: GSE‐based Synchronized Tracking
      4. 9.4 Experiment 2: UDE‐based Robust Synchronized Tracking
      5. 9.5 Experiment 3: Output‐feedback‐based Sliding‐mode Control
      6. Bibliography
  11. Part V: Appendix
    1. Appendix A
      1. A.1 Algebra and Matrix Theory
      2. A.2 Systems and Control Theory
      3. A.3 Proofs
      4. Bibliography
  12. Index
  13. End User License Agreement
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