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Cooperative Control Design

A Systematic, Passivity-Based Approach

  • Book
  • © 2011

Overview

Authors:
  1. He Bai

    1. UtopiaCompression Corporation, Los Angeles, USA

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  2. Murat Arcak

    1. , Electrical Engineering and Computer Scie, University of California Berkeley, Berkeley, USA

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    You can also search for this author in PubMed   Google Scholar

  3. John Wen

    1. , Electrical, Computer and Systems Enginee, Rensselaer Polytechnic Institute, Troy, USA

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  • Provides a unified passivity-based framework for multi-agent coordination problems, including formation control, attitude coordination, and synchronized path following
  • Discusses control algorithms that are modular, scalable and decentralized and can be easily tailored to different cooperative control problems
  • Covers complex and heterogeneous nonlinear agent dynamics,including Lagrangian and Hamiltonian systems
  • Includes supplementary material: sn.pub/extras

Part of the book series: Communications and Control Engineering (CCE)

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Table of contents (9 chapters)

  1. Front Matter

    Pages i-xiv
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  2. Introduction

    • He Bai, Murat Arcak, John Wen
    Pages 1-17

  3. Passivity As a Design Tool for Cooperative Control

    • He Bai, Murat Arcak, John Wen
    Pages 19-49

  4. Adaptive Design for Reference Velocity Recovery: Internal Model Approach

    • He Bai, Murat Arcak, John Wen
    Pages 51-69

  5. Adaptive Design for Reference Velocity Recovery: Parameterization Approach

    • He Bai, Murat Arcak, John Wen
    Pages 71-91

  6. Attitude CoordinationWithout Inertial Frame Information

    • He Bai, Murat Arcak, John Wen
    Pages 93-107

  7. The Agreement of Euler-Lagrange Systems

    • He Bai, Murat Arcak, John Wen
    Pages 109-129

  8. Synchronized Path Following

    • He Bai, Murat Arcak, John Wen
    Pages 131-146

  9. Cooperative Load Transport

    • He Bai, Murat Arcak, John Wen
    Pages 147-164

  10. Caveats for Robustness

    • He Bai, Murat Arcak, John Wen
    Pages 165-177

  11. Back Matter

    Pages 179-209
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About this book

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.

Authors and Affiliations

  • UtopiaCompression Corporation, Los Angeles, USA

    He Bai

  • , Electrical Engineering and Computer Scie, University of California Berkeley, Berkeley, USA

    Murat Arcak

  • , Electrical, Computer and Systems Enginee, Rensselaer Polytechnic Institute, Troy, USA

    John Wen

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