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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
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.
Content Level »Research
Keywords »Arcak - Cooperative Control - Formation Control - Heterogeneous nonlinear agent dynamics - Multi-Agent Systems - Passivity - Passivity Tool - Reference Velocity Recovery - Relative Distance Control - Relative Position Control - Wen