Introducing passivity as a design tool for multi-agent systems, this book provides a unified framework for multi-agent coordination problems and discusses numerous related factors such as formation control, attitude coordination, and synchronization.
Cooperative Control Design: A Systematic, Passivity-Based Approach discusses multi-agent coordination problems, including formation control, attitude coordination, and synchronization. The book introduces passivity as a design tool for multi-agent systems in order to provide exemplary work using this tool, and to illustrate 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 the case of adaptive redesigns for reference velocity recovery, done while describing a basic design, a modified design and the parameter convergence problem. Formation control is presented as it relates to relative distance control and relative position control. The coverage is concluded with a comprehensive discussion of agreement and the synchronization problem with an example using attitude coordination. This book also:
Provides a unified passivity-based framework for multi-agent coordination problems, including formation control, attitude coordination, and synchronization
Discusses control algorithms that are modular, scalable and decentralized and can be easily refined and used again
Covers complex and heterogeneous nonlinear agent dynamics, including Lagrangian and Hamiltonian systems Cooperative Control Design: A Systematic, Passivity-Based Approach is an ideal volume for researchers and engineers working in control and engineering design.
Inhaltsverzeichnis
1 Introduction. - 2 Passivity As a Design Tool for Cooperative Control. - 3 Adaptive Design for Reference Velocity Recovery: Internal Model Approach. - 4 Adaptive Design for Reference Velocity Recovery: Parameterization Approach. - 5 Attitude CoordinationWithout Inertial Frame Information. - 6 The Agreement of Euler-Lagrange Systems. - 7 Synchronized Path Following. - 8 Cooperative Load Transport. - 9 Caveats for Robustness.
