Formation and Containment Control for High-order Linear Swarm Systems

  • Xiwang¬†Dong

Part of the Springer Theses book series (Springer Theses)

Table of contents

  1. Front Matter
    Pages i-xix
  2. Xiwang Dong
    Pages 1-24
  3. Xiwang Dong
    Pages 25-31
  4. Xiwang Dong
    Pages 33-51
  5. Xiwang Dong
    Pages 53-103
  6. Xiwang Dong
    Pages 105-131
  7. Xiwang Dong
    Pages 165-168
  8. Back Matter
    Pages 169-170

About this book


This 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.


Consensus control Containment control Formation control Formation-containment control High-order linear time-invariant (LTI) Multi-agent system Quadrotor unmanned air vehicle (UAV) Swarm system

Authors and affiliations

  • Xiwang¬†Dong
    • 1
  1. 1.School of Automation Science and Electronic EngineeringBeihang UniversityBeijingChina

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag Berlin Heidelberg 2016
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-662-47835-6
  • Online ISBN 978-3-662-47836-3
  • Series Print ISSN 2190-5053
  • Series Online ISSN 2190-5061
  • Buy this book on publisher's site
Industry Sectors
Chemical Manufacturing
IT & Software
Materials & Steel
Oil, Gas & Geosciences