Overview
- Nominated as an outstanding PhD thesis by the Australian National University, Canberra
- Reports on a comprehensive investigation into cooperative coordination control for networked multi-agent systems
- Addresses several long-standing research problems, including formation stability, robustness issues, and measurement constraints
- Advances potential drone formation applications by providing theoretical answers to several challenging problems in formation control
Part of the book series: Springer Theses (Springer Theses)
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Table of contents (10 chapters)
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Front Matter
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Formation Control Systems: Equilibrium and Stability Analysis
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Front Matter
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Formation Control Systems: Some Practical Considerations
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Front Matter
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Distributed Coordination Control: General System Models
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Front Matter
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Back Matter
Keywords
- Cooperative Control
- Networked Systems
- Rigid Formations
- Exponential Stability
- Robustness Issue
- Distance Mismatch
- Rank-preserving Property
- Formation Orientation
- Quantized Measurements
- Double-integrator Systems
- Parameterized Hamiltonian System
- Formation Feasibility
- Motion Generation
- Constant-speed Agents
- Networked Heterogeneous Systems
About this book
The thesis presents new results on multi-agent formation control, focusing on the distributed stabilization control of rigid formation shapes. It analyzes a range of current research problems such as problems concerning the equilibrium and stability of formation control systems, or the problem of cooperative coordination control when agents have general dynamical models, and discusses practical considerations arising during the implementation of established formation control algorithms.
 In addition, the thesis presents models of increasing complexity, from single integrator models, to double integrator models, to agents modeled by nonlinear kinematic and dynamic equations, including the familiar unicycle model and nonlinear system equations with drift terms. Presenting the fruits of a close collaboration between several top control groups at leading universities including Yale University, Groningen University, Purdue University and Gwangju Institute of Science and Technology (GIST), the thesis spans various research areas, including robustness issues in formations, quantization-based coordination, exponential stability in formation systems, and cooperative coordination of networked heterogeneous systems.
Authors and Affiliations
Bibliographic Information
Book Title: Cooperative Coordination and Formation Control for Multi-agent Systems
Authors: Zhiyong Sun
Series Title: Springer Theses
DOI: https://doi.org/10.1007/978-3-319-74265-6
Publisher: Springer Cham
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer International Publishing AG 2018
Hardcover ISBN: 978-3-319-74264-9Published: 07 March 2018
Softcover ISBN: 978-3-030-08949-8Published: 14 December 2018
eBook ISBN: 978-3-319-74265-6Published: 23 February 2018
Series ISSN: 2190-5053
Series E-ISSN: 2190-5061
Edition Number: 1
Number of Pages: XXII, 179
Number of Illustrations: 34 illustrations in colour
Topics: Control and Systems Theory, Computational Intelligence, Artificial Intelligence