000			01567 a2200241 4500
999			_c54145 _d54145
008			201201b ||||| |||| 00| 0 eng d
020			_a9783662478356
082			_a629.8 _bXIW
100			_aXiwang, Dong
245			_aFormation and containment control for high-order linear swarm systems
260			_bSpringer, _c2016. _aBerlin:
300			_axix, 170 p. : ill. ; _bhb; _c25 cm.
365			_aEURO _b99.99
440			_aSpringer theses
504			_aIncludes bibliographical references and index.
520			_aThis book focuses on analysis and design problems for high-order linear time-invariant (LTI) swarm systems (multi-agent systems) to achieve consensus, formation, containment and formation-containment. As a first step, the concepts of practical consensus and formation-containment are introduced. Unlike previous research, the formation in this book can be time-varying. A general framework for consensus, consensus tracking, formation, containment and state formation-containment is presented for the first time. Sufficient/necessary and sufficient conditions, and approaches to designing the protocols for swarm systems to achieve these control objectives, are respectively proposed. Autonomous time-varying formation experiments using five quadrotor unmanned aerial vehicles (UAVs) are conducted in an outdoor setting to demonstrate the theoretical results.
650			_aEngineering
650			_aSwarm Intelligence
650			_aMultiagent Systems
650			_aArtificial Intelligence
650			_aAutomatic Control
942			_2ddc _cTD