Communications and Control Engineering

Cooperative Control Design

A Systematic, Passivity-Based Approach

Authors: Bai, He, Arcak, Murat, Wen, John

  • 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
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eBook $139.00
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  • ISBN 978-1-4614-0014-1
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Hardcover $179.00
price for USA
  • ISBN 978-1-4614-0013-4
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  • ISBN 978-1-4614-2907-4
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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 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.


Table of contents (9 chapters)

  • Introduction

    Bai, He (et al.)

    Pages 1-17

  • Passivity As a Design Tool for Cooperative Control

    Bai, He (et al.)

    Pages 19-49

  • Adaptive Design for Reference Velocity Recovery: Internal Model Approach

    Bai, He (et al.)

    Pages 51-69

  • Adaptive Design for Reference Velocity Recovery: Parameterization Approach

    Bai, He (et al.)

    Pages 71-91

  • Attitude CoordinationWithout Inertial Frame Information

    Bai, He (et al.)

    Pages 93-107

Buy this book

eBook $139.00
price for USA (gross)
  • ISBN 978-1-4614-0014-1
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $179.00
price for USA
  • ISBN 978-1-4614-0013-4
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $179.00
price for USA
  • ISBN 978-1-4614-2907-4
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Rent the ebook  
  • Rental duration: 1 or 6 month
  • low-cost access
  • online reader with highlighting and note-making option
  • can be used across all devices
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Bibliographic Information

Bibliographic Information
Book Title
Cooperative Control Design
Book Subtitle
A Systematic, Passivity-Based Approach
Authors
Series Title
Communications and Control Engineering
Copyright
2011
Publisher
Springer-Verlag New York
Copyright Holder
Springer Science+Business Media, LLC
eBook ISBN
978-1-4614-0014-1
DOI
10.1007/978-1-4614-0014-1
Hardcover ISBN
978-1-4614-0013-4
Softcover ISBN
978-1-4614-2907-4
Series ISSN
0178-5354
Edition Number
1
Number of Pages
XIV, 210
Topics