Table of contents
Overview of Consensus Algorithms in Cooperative Control
Consensus Algorithms for Single-integrator Dynamics
Consensus Algorithms for Double-integrator Dynamics
Consensus Algorithms for Rigid Body Attitude Dynamics
Consensus-based Design Methodologies for Distributed Multivehicle Cooperative Control
Applications to Multivehicle Cooperative Control
About this book
The coordinated use of autonomous vehicles has an abundance of potential applications from the domestic to the hazardously toxic. Frequently the communications necessary for the productive interplay of such vehicles may be subject to limitations in range, bandwidth, noise and other causes of unreliability.
Information consensus guarantees that vehicles sharing information over a network topology have a consistent view of information critical to the coordination task. Assuming only neighbor-neighbor interaction between vehicles, Distributed Consensus in Multi-vehicle Cooperative Control develops distributed consensus strategies designed to ensure that the information states of all vehicles in a network converge to a common value. This approach strengthens the team, minimizing power consumption and the deleterious effects of range and other restrictions.
The monograph is divided into six parts covering introductory, theoretical and experimental material and featuring:
• an overview of the use of consensus algorithms in cooperative control;
• consensus algorithms in single- and double-integrator dynamical systems;
• consensus algorithms for rigid-body attitude dynamics;
• rendezvous and axial alignment, formation control, deep-space formation flying, fire monitoring and surveillance.
Notation drawn from graph and matrix theory and background material on linear and nonlinear system theory are enumerated in six appendices. The authors maintain a website at which can be found a sample simulation and experimental video material associated with experiments in several chapters of this book.
Academic control systems researchers and their counterparts in government laboratories and robotics- and aerospace-related industries will find the ideas presented in Distributed Consensus in Multi-vehicle Cooperative Control of great interest. This text will also serve as a valuable support and reference for graduate courses in robotics, and linear and nonlinear control systems.
- Book Title Distributed Consensus in Multi-vehicle Cooperative Control
- Book Subtitle Theory and Applications
- Series Title Communications and Control Engineering
- DOI https://doi.org/10.1007/978-1-84800-015-5
- Copyright Information Springer-Verlag London Limited 2008
- Publisher Name Springer, London
- eBook Packages Engineering Engineering (R0)
- Hardcover ISBN 978-1-84800-014-8
- Softcover ISBN 978-1-84996-701-3
- eBook ISBN 978-1-84800-015-5
- Series ISSN 0178-5354
- Edition Number 1
- Number of Pages XV, 319
- Number of Illustrations 0 b/w illustrations, 0 illustrations in colour
Control and Systems Theory
Control, Robotics, Mechatronics
Systems Theory, Control
Communications Engineering, Networks
- Buy this book on publisher's site
From the reviews:
“This book gives a systematic analysis of distributed consensus problems of multivehicle cooperative control and summarizes the main recent work of the authors. The book is well written, and all of the main theoretical results are given together with rigorous mathematical proofs. This book can be a very useful reference for Ph.D. students and researchers in automatic control.” (Jinhuan Wang and Xiaoming Hu, IEEE Control Systems Magazine, Vol. 30, June, 2010)