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