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Formation Control of Multiple Autonomous Vehicle Systems.

By: Contributor(s): Material type: TextTextPublisher: Newark : John Wiley & Sons, Incorporated, 2018Copyright date: ©2017Edition: 1st edDescription: 1 online resource (271 pages)Content type:
  • text
Media type:
  • computer
Carrier type:
  • online resource
ISBN:
  • 9781119263043
Subject(s): Genre/Form: Additional physical formats: Print version:: Formation Control of Multiple Autonomous Vehicle SystemsDDC classification:
  • 629.04
LOC classification:
  • TL152.8.L58 2018
Online resources:
Contents:
Cover -- Title Page -- Copyright -- Contents -- Preface -- List of Tables -- List of Figures -- Acknowledgments -- Part I Formation Control: Fundamental Concepts -- Chapter 1 Formation Kinematics -- 1.1 Notation -- 1.2 Vectorial Kinematics -- 1.2.1 Frame Rotation -- 1.2.2 The Motion of a Vector -- 1.2.3 The First Time Derivative of a Vector -- 1.2.4 The Second Time Derivative of a Vector -- 1.2.5 Motion with Respect to Multiple Frames -- 1.3 Euler Parameters and Unit Quaternion -- Chapter 2 Formation Dynamics of Motion Systems -- 2.1 Virtual Structure -- 2.1.1 Formation Control Problem Statement -- 2.1.2 Extended Formation Control Problem -- 2.2 Behaviour‐based Formation Dynamics -- 2.3 Leader-Follower Formation Dynamics -- Chapter 3 Fundamental Formation Control -- 3.1 Unified Problem Description -- 3.1.1 Some Key Definitions for Formation Control -- 3.1.2 A Simple Illustrative Example -- 3.2 Information Interaction Conditions -- 3.2.1 Algebraic Graph Theory -- 3.2.2 Conditions for the Case without a Leader -- 3.2.3 Conditions for the Case with a Leader -- 3.3 Synchronization Errors -- 3.3.1 Local Synchronization Error: Type I -- 3.3.2 Local Synchronization Error: Type II -- 3.3.3 Local Synchronization Error: Type III -- 3.4 Velocity Synchronization Control -- 3.4.1 Velocity Synchronization without a Leader -- 3.4.2 Velocity Synchronization with a Leader -- 3.5 Angular‐position Synchronization Control -- 3.5.1 Synchronization without a Position Reference -- 3.5.2 Synchronization to a Position Reference -- 3.6 Formation via Synchronized Tracking -- 3.6.1 Formation Control Solution 1 -- 3.6.2 Formation Control Solution 2 -- 3.7 Simulations -- 3.7.1 Verification of Theorem 3.12 -- 3.7.2 Verification of Theorem 3.13 -- 3.7.3 Verification of Theorem 3.14 -- 3.8 Summary -- Bibliography -- Part II Formation Control: Advanced Topics.
Chapter 4 Output‐feedback Solutions to Formation Control -- 4.1 Introduction -- 4.2 Problem Statement -- 4.3 Linear Output‐feedback Control -- 4.4 Bounded Output‐feedback Control -- 4.5 Distributed Linear Control -- 4.6 Distributed Bounded Control -- 4.7 Simulations -- 4.7.1 Case 1: Verification of Theorem 4.1 -- 4.7.2 Case 2: Verification of Theorem 4.5 -- 4.8 Summary -- Chapter 5 Robust and Adaptive Formation Control -- 5.1 Problem Statement -- 5.2 Continuous Control via State Feedback -- 5.2.1 Controller Development -- 5.2.2 Analysis of Tracker ui0 -- 5.2.3 Design of Disturbance Estimators -- 5.2.4 Closed‐loop Performance Analysis -- 5.3 Bounded State Feedback Control -- 5.3.1 Design of Bounded State Feedback -- 5.3.2 Robustness Analysis -- 5.3.3 The Effect of UDE on Stability -- 5.3.4 The Effect of UDE on the Bounds of Control -- 5.4 Continuous Control via Output Feedback -- 5.4.1 Design of ui0 and d^i -- 5.4.2 Stability Analysis -- 5.5 Discontinuous Control via Output Feedback -- 5.5.1 Controller Design -- 5.5.2 Stability Analysis -- 5.6 GSE‐based Synchronization Control -- 5.6.1 Coupled Errors -- 5.6.2 Controller Design and Convergence Analysis -- 5.7 GSE‐based Adaptive Formation Control -- 5.7.1 Problem Statement -- 5.7.2 Controller Development -- 5.8 Summary -- Bibliography -- Part III Formation Control: Case Studies -- Chapter 6 Formation Control of Space Systems -- 6.1 Lagrangian Formulation of Spacecraft Formation -- 6.1.1 Lagrangian Formulation -- 6.1.2 Attitude Dynamics of Rigid Spacecraft -- 6.1.3 Relative Translational Dynamics -- 6.2 Adaptive Formation Control -- 6.3 Applications and Simulation Results -- 6.3.1 Application 1: Leader-Follower Spacecraft Pair -- 6.3.1.1 Simulation Condition -- 6.3.1.2 Control Parameters -- 6.3.1.3 Simulation Results and Analysis -- 6.3.2 Application 2: Multiple Spacecraft in Formation -- 6.4 Summary.
Chapter 7 Formation Control of Aerial Systems -- 7.1 Vortex‐induced Aerodynamics -- 7.1.1 Model of the Trailing Vortices of Leader Aircraft -- 7.1.2 Single Horseshoe Vortex Model -- 7.1.3 Continuous Vortex Sheet Model -- 7.2 Aircraft Autopilot Models -- 7.2.1 Models for the Follower Aircraft -- 7.2.2 Kinematics for Close‐formation Flight -- 7.3 Controller Design -- 7.3.1 Linear Proportional‐integral Controller -- 7.3.2 UDE‐based Formation‐flight Controller -- 7.3.2.1 Formation Flight Controller Design -- 7.3.2.2 Uncertainty and Disturbance Estimator -- 7.4 Simulation Results -- 7.4.1 Simulation Results for Controller 1 -- 7.4.2 Simulation Results for Controller 2 -- 7.5 Summary -- Chapter 8 Formation Control of Robotic Systems -- 8.1 Introduction -- 8.2 Visual Tracking -- 8.2.1 Imaging Hardware -- 8.2.2 Image Distortion -- 8.2.3 Color Thresholding -- 8.2.4 Noise Rejection -- 8.2.5 Data Extraction -- 8.3 Synchronization Control -- 8.3.1 Synchronization -- 8.3.2 Formation Parameters -- 8.3.3 Architecture -- 8.3.4 Control Law -- 8.3.5 Simulations -- 8.3.5.1 Constant Formation along Circular Trajectory -- 8.3.5.2 Time‐varying Formation along Linear Trajectory -- 8.4 Passivity Control -- 8.4.1 Passivity -- 8.4.2 Formation Parameters -- 8.4.3 Control Law -- 8.4.4 Simulation -- 8.5 Experiments -- 8.5.1 Setup -- 8.5.2 Results -- 8.5.2.1 Constant Formation Along Circular Trajectory -- 8.5.2.2 Time‐varying Formation along Linear Trajectory -- 8.6 Summary -- Bibliography -- Part IV Formation Control: Laboratory -- Chapter 9 Experiments on 3DOF Desktop Helicopters -- 9.1 Description of the Experimental Setup -- 9.2 Mathematical Models -- 9.2.1 Nonlinear 3DOF Model -- 9.2.2 2DOF Model for Elevation and Pitch Control -- 9.3 Experiment 1: GSE‐based Synchronized Tracking -- 9.3.1 Objective -- 9.3.2 Initial Conditions and Desired Trajectories.
9.3.3 Control Strategies -- 9.3.4 Disturbance Condition -- 9.3.5 Experimental Results -- 9.3.6 Summary -- 9.4 Experiment 2: UDE‐based Robust Synchronized Tracking -- 9.4.1 Objective -- 9.4.2 Initial Conditions and Desired Trajectories -- 9.4.3 Control Strategies -- 9.4.4 Experimental Results and Discussions -- 9.4.5 Summary -- 9.5 Experiment 3: Output‐feedback‐based Sliding‐mode Control -- 9.5.1 Objective -- 9.5.2 Initial Conditions and Desired Trajectories -- 9.5.3 Control Strategies -- 9.5.4 Experimental Results and Discussions -- 9.5.5 Summary -- Bibliography -- Part V Appendix -- Appendix A -- A.1 Algebra and Matrix Theory -- A.2 Systems and Control Theory -- A.2.1 Definitions of Lipschitz Condition -- A.2.2 Definitions of Asymptotically Stable -- A.2.3 Definitions of Input‐to‐state Stability -- A.2.4 Bounds of Solutions of Linear Systems -- A.2.5 Results for Small‐signal L∞ Stability -- A.3 Proofs -- A.3.1 Proof of Theorem 5.6 -- A.3.2 Proof of Lemma 5.10 -- A.3.3 Proof of Lemma 5.13 -- Bibliography -- Index -- EULA.
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Cover -- Title Page -- Copyright -- Contents -- Preface -- List of Tables -- List of Figures -- Acknowledgments -- Part I Formation Control: Fundamental Concepts -- Chapter 1 Formation Kinematics -- 1.1 Notation -- 1.2 Vectorial Kinematics -- 1.2.1 Frame Rotation -- 1.2.2 The Motion of a Vector -- 1.2.3 The First Time Derivative of a Vector -- 1.2.4 The Second Time Derivative of a Vector -- 1.2.5 Motion with Respect to Multiple Frames -- 1.3 Euler Parameters and Unit Quaternion -- Chapter 2 Formation Dynamics of Motion Systems -- 2.1 Virtual Structure -- 2.1.1 Formation Control Problem Statement -- 2.1.2 Extended Formation Control Problem -- 2.2 Behaviour‐based Formation Dynamics -- 2.3 Leader-Follower Formation Dynamics -- Chapter 3 Fundamental Formation Control -- 3.1 Unified Problem Description -- 3.1.1 Some Key Definitions for Formation Control -- 3.1.2 A Simple Illustrative Example -- 3.2 Information Interaction Conditions -- 3.2.1 Algebraic Graph Theory -- 3.2.2 Conditions for the Case without a Leader -- 3.2.3 Conditions for the Case with a Leader -- 3.3 Synchronization Errors -- 3.3.1 Local Synchronization Error: Type I -- 3.3.2 Local Synchronization Error: Type II -- 3.3.3 Local Synchronization Error: Type III -- 3.4 Velocity Synchronization Control -- 3.4.1 Velocity Synchronization without a Leader -- 3.4.2 Velocity Synchronization with a Leader -- 3.5 Angular‐position Synchronization Control -- 3.5.1 Synchronization without a Position Reference -- 3.5.2 Synchronization to a Position Reference -- 3.6 Formation via Synchronized Tracking -- 3.6.1 Formation Control Solution 1 -- 3.6.2 Formation Control Solution 2 -- 3.7 Simulations -- 3.7.1 Verification of Theorem 3.12 -- 3.7.2 Verification of Theorem 3.13 -- 3.7.3 Verification of Theorem 3.14 -- 3.8 Summary -- Bibliography -- Part II Formation Control: Advanced Topics.

Chapter 4 Output‐feedback Solutions to Formation Control -- 4.1 Introduction -- 4.2 Problem Statement -- 4.3 Linear Output‐feedback Control -- 4.4 Bounded Output‐feedback Control -- 4.5 Distributed Linear Control -- 4.6 Distributed Bounded Control -- 4.7 Simulations -- 4.7.1 Case 1: Verification of Theorem 4.1 -- 4.7.2 Case 2: Verification of Theorem 4.5 -- 4.8 Summary -- Chapter 5 Robust and Adaptive Formation Control -- 5.1 Problem Statement -- 5.2 Continuous Control via State Feedback -- 5.2.1 Controller Development -- 5.2.2 Analysis of Tracker ui0 -- 5.2.3 Design of Disturbance Estimators -- 5.2.4 Closed‐loop Performance Analysis -- 5.3 Bounded State Feedback Control -- 5.3.1 Design of Bounded State Feedback -- 5.3.2 Robustness Analysis -- 5.3.3 The Effect of UDE on Stability -- 5.3.4 The Effect of UDE on the Bounds of Control -- 5.4 Continuous Control via Output Feedback -- 5.4.1 Design of ui0 and d^i -- 5.4.2 Stability Analysis -- 5.5 Discontinuous Control via Output Feedback -- 5.5.1 Controller Design -- 5.5.2 Stability Analysis -- 5.6 GSE‐based Synchronization Control -- 5.6.1 Coupled Errors -- 5.6.2 Controller Design and Convergence Analysis -- 5.7 GSE‐based Adaptive Formation Control -- 5.7.1 Problem Statement -- 5.7.2 Controller Development -- 5.8 Summary -- Bibliography -- Part III Formation Control: Case Studies -- Chapter 6 Formation Control of Space Systems -- 6.1 Lagrangian Formulation of Spacecraft Formation -- 6.1.1 Lagrangian Formulation -- 6.1.2 Attitude Dynamics of Rigid Spacecraft -- 6.1.3 Relative Translational Dynamics -- 6.2 Adaptive Formation Control -- 6.3 Applications and Simulation Results -- 6.3.1 Application 1: Leader-Follower Spacecraft Pair -- 6.3.1.1 Simulation Condition -- 6.3.1.2 Control Parameters -- 6.3.1.3 Simulation Results and Analysis -- 6.3.2 Application 2: Multiple Spacecraft in Formation -- 6.4 Summary.

Chapter 7 Formation Control of Aerial Systems -- 7.1 Vortex‐induced Aerodynamics -- 7.1.1 Model of the Trailing Vortices of Leader Aircraft -- 7.1.2 Single Horseshoe Vortex Model -- 7.1.3 Continuous Vortex Sheet Model -- 7.2 Aircraft Autopilot Models -- 7.2.1 Models for the Follower Aircraft -- 7.2.2 Kinematics for Close‐formation Flight -- 7.3 Controller Design -- 7.3.1 Linear Proportional‐integral Controller -- 7.3.2 UDE‐based Formation‐flight Controller -- 7.3.2.1 Formation Flight Controller Design -- 7.3.2.2 Uncertainty and Disturbance Estimator -- 7.4 Simulation Results -- 7.4.1 Simulation Results for Controller 1 -- 7.4.2 Simulation Results for Controller 2 -- 7.5 Summary -- Chapter 8 Formation Control of Robotic Systems -- 8.1 Introduction -- 8.2 Visual Tracking -- 8.2.1 Imaging Hardware -- 8.2.2 Image Distortion -- 8.2.3 Color Thresholding -- 8.2.4 Noise Rejection -- 8.2.5 Data Extraction -- 8.3 Synchronization Control -- 8.3.1 Synchronization -- 8.3.2 Formation Parameters -- 8.3.3 Architecture -- 8.3.4 Control Law -- 8.3.5 Simulations -- 8.3.5.1 Constant Formation along Circular Trajectory -- 8.3.5.2 Time‐varying Formation along Linear Trajectory -- 8.4 Passivity Control -- 8.4.1 Passivity -- 8.4.2 Formation Parameters -- 8.4.3 Control Law -- 8.4.4 Simulation -- 8.5 Experiments -- 8.5.1 Setup -- 8.5.2 Results -- 8.5.2.1 Constant Formation Along Circular Trajectory -- 8.5.2.2 Time‐varying Formation along Linear Trajectory -- 8.6 Summary -- Bibliography -- Part IV Formation Control: Laboratory -- Chapter 9 Experiments on 3DOF Desktop Helicopters -- 9.1 Description of the Experimental Setup -- 9.2 Mathematical Models -- 9.2.1 Nonlinear 3DOF Model -- 9.2.2 2DOF Model for Elevation and Pitch Control -- 9.3 Experiment 1: GSE‐based Synchronized Tracking -- 9.3.1 Objective -- 9.3.2 Initial Conditions and Desired Trajectories.

9.3.3 Control Strategies -- 9.3.4 Disturbance Condition -- 9.3.5 Experimental Results -- 9.3.6 Summary -- 9.4 Experiment 2: UDE‐based Robust Synchronized Tracking -- 9.4.1 Objective -- 9.4.2 Initial Conditions and Desired Trajectories -- 9.4.3 Control Strategies -- 9.4.4 Experimental Results and Discussions -- 9.4.5 Summary -- 9.5 Experiment 3: Output‐feedback‐based Sliding‐mode Control -- 9.5.1 Objective -- 9.5.2 Initial Conditions and Desired Trajectories -- 9.5.3 Control Strategies -- 9.5.4 Experimental Results and Discussions -- 9.5.5 Summary -- Bibliography -- Part V Appendix -- Appendix A -- A.1 Algebra and Matrix Theory -- A.2 Systems and Control Theory -- A.2.1 Definitions of Lipschitz Condition -- A.2.2 Definitions of Asymptotically Stable -- A.2.3 Definitions of Input‐to‐state Stability -- A.2.4 Bounds of Solutions of Linear Systems -- A.2.5 Results for Small‐signal L∞ Stability -- A.3 Proofs -- A.3.1 Proof of Theorem 5.6 -- A.3.2 Proof of Lemma 5.10 -- A.3.3 Proof of Lemma 5.13 -- Bibliography -- Index -- EULA.

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Electronic reproduction. Ann Arbor, Michigan : ProQuest Ebook Central, 2024. Available via World Wide Web. Access may be limited to ProQuest Ebook Central affiliated libraries.

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