Distributed Consensus in Multi-vehicle Cooperative Control: Theory and Applications
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
London
Springer
2008
Berlin Springer Berlin |
| Series: | Communications and Control Engineering
|
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Physical Description: | XIV, 306 S. Ill., graph. Darst. 235 mm x 155 mm |
| ISBN: | 9781848000148 1848000146 |
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MARC
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Record in the Search Index
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| adam_text | WEI REN AND RANDAL W. BEARD DISTRIBUTED CONSENSUS IN MULTI-VEHICLE
COOPERATIVE CONTROL THEORY AND APPLICATIONS SPRIN ER CONTENTS PART I
OVERVIEW OF CONSENSUS ALGORITHMS IN COOPERATIVE CONTROL 1 OVERVIEW OF
CONSENSUS ALGORITHMS IN COOPERATIVE CONTROL 3 1.1 INTRODUCTION 3 1.2
LITERATURE REVIEW: CONSENSUS ALGORITHMS 6 1.2.1 FUNDAMENTAL CONSENSUS
ALGORITHMS 7 1.2.2 CONVERGENCE ANALYSIS OF CONSENSUS ALGORITHMS 9 1.2.3
SYNTHESIS AND EXTENSIONS OF CONSENSUS ALGORITHMS .... 15 1.2.4 DESIGN OF
COORDINATION STRATEGIES VIA CONSENSUS ALGORITHMS 17 1.3 MONOGRAPH
OVERVIEW 21 1.4 NOTES . 22 PART II CONSENSUS ALGORITHMS FOR
SINGLE-INTEGRATOR DYNAMICS 2 CONSENSUS ALGORITHMS FOR SINGLE-INTEGRATOR
DYNAMICS 25 2.1 FUNDAMENTAL ALGORITHMS 25 2.2 CONSENSUS UNDER FIXED
INTERACTION TOPOLOGIES 28 2.2.1 CONSENSUS USING A CONTINUOUS-TIME
ALGORITHM 28 2.2.2 CONSENSUS USING A DISCRETE-TIME ALGORITHM 38 2.3
CONSENSUS UNDER DYNAMICALLY CHANGING INTERACTION TOPOLOGIES 42 2.3.1
CONSENSUS USING A CONTINUOUS-TIME ALGORITHM 45 2.3.2 CONSENSUS USING A
DISCRETE-TIME ALGORITHM 49 2.3.3 SIMULATION RESULTS 50 2.4 NOTES 52 3
CONSENSUS TRACKING WITH A REFERENCE STATE 55 3.1 PROBLEM STATEMENT 55
3.2 CONSTANT CONSENSUS REFERENCE STATE 56 3.3 TIME-VARYING CONSENSUS
REFERENCE STATE 58 XII CONTENTS 3.3.1 FUNDAMENTAL CONSENSUS TRACKING
ALGORITHM 61 3.3.2 CONSENSUS TRACKING ALGORITHM WITH BOUNDED CONTROL
INPUTS 66 3.3.3 INFORMATION FEEDBACK TO THE CONSENSUS REFERENCE STATE 68
3.4 EXTENSION TO RELATIVE STATE DEVIATIONS 71 3.5 NOTES 73 PART III
CONSENSUS ALGORITHMS FOR DOUBLE-INTEGRATOR DYNAMICS 4 CONSENSUS
ALGORITHMS FOR DOUBLE-INTEGRATOR DYNAMICS .... 77 4.1 CONSENSUS
ALGORITHM 77 4.1.1 CONVERGENCE ANALYSIS UNDER FIXED INTERACTION
TOPOLOGIES 79 4.1.2 CONVERGENCE ANALYSIS UNDER SWITCHING INTERACTION
TOPOLOGIES 91 4.2 CONSENSUS WITH BOUNDED CONTROL INPUTS 96 4.3 CONSENSUS
WITHOUT RELATIVE STATE DERIVATIVE MEASUREMENTS . . 100 4.4 NOTES 103 5
EXTENSIONS TO A REFERENCE MODEL 105 5.1 PROBLEM STATEMENT 105 5.2
CONSENSUS WITH A REFERENCE FOR INFORMATION STATE DERIVATIVES . 106 5.2.1
CONSENSUS WITH COUPLING BETWEEN NEIGHBORS INFORMATION STATE DERIVATIVES
106 5.2.2 CONSENSUS WITHOUT COUPLING BETWEEN NEIGHBORS INFORMATION
STATE DERIVATIVES 109 5.3 CONSENSUS WITH REFERENCES FOR INFORMATION
STATES AND THEIR DERIVATIVES ILL 5.3.1 FULL ACCESS TO THE REFERENCE
MODEL 112 5.3.2 LEADER-FOLLOWING STRATEGY 113 5.3.3 GENERAL CASE 114 5.4
NOTES 118 PART IV CONSENSUS ALGORITHMS FOR RIGID BODY ATTITUDE DYNAMICS
6 CONSENSUS ALGORITHMS FOR RIGID BODY ATTITUDE DYNAMICS . 123 6.1
PROBLEM STATEMENT 123 6.2 ATTITUDE CONSENSUS WITH ZERO FINAL ANGULAR
VELOCITIES 124 6.3 ATTITUDE CONSENSUS WITHOUT ABSOLUTE AND RELATIVE
ANGULAR VELOCITY MEASUREMENTS 128 6.4 ATTITUDE CONSENSUS WITH NONZERO
FINAL ANGULAR VELOCITIES. . . . 131 6.5 SIMULATION RESULTS 132 6.6 NOTES
134 CONTENTS XIII 7 RELATIVE ATTITUDE MAINTENANCE AND REFERENCE ATTITUDE
TRACKING 141 7.1 RELATIVE ATTITUDE MAINTENANCE 141 7.1.1 FIXED RELATIVE
ATTITUDES WITH ZERO FINAL ANGULAR VELOCITIES 141 7.1.2 TIME-VARYING
RELATIVE ATTITUDES AND ANGULAR VELOCITIES 142 7.2 REFERENCE ATTITUDE
TRACKING 143 7.2.1 REFERENCE ATTITUDE TRACKING WITH ATTITUDES
REPRESENTED BY EULER PARAMETERS 143 7.2.2 REFERENCE ATTITUDE TRACKING
WITH ATTITUDES REPRESENTED BY MODIFIED RODRIGUEZ PARAMETERS 147 7.3
SIMULATION RESULTS 150 7.4 NOTES 152 PART V CONSENSUS-BASED DESIGN
METHODOLOGIES FOR DISTRIBUTED MULTIVEHICLE COOPERATIVE CONTROL 8
CONSENSUS-BASED DESIGN METHODOLOGIES FOR DISTRIBUTED MULTIVEHICLE
COOPERATIVE CONTROL 159 8.1 INTRODUCTION 159 8.2 COUPLING IN COOPERATIVE
CONTROL PROBLEMS 161 8.2.1 OBJECTIVE COUPLING 162 8.2.2 LOCAL COUPLING
162 8.2.3 FULL COUPLING 162 8.2.4 DYNAMIC COUPLING 163 8.3 APPROACH TO
DISTRIBUTED COOPERATIVE CONTROL PROBLEMS WITH AN OPTIMIZATION OBJECTIVE
163 8.3.1 COOPERATION CONSTRAINTS AND OBJECTIVES 164 8.3.2 COORDINATION
VARIABLES AND COORDINATION FUNCTIONS . . . 165 8.3.3 CENTRALIZED
COOPERATION SCHEME 166 8.3.4 CONSENSUS BUILDING 167 8.4 APPROACH TO
DISTRIBUTED COOPERATIVE CONTROL PROBLEMS WITHOUT AN OPTIMIZATION
OBJECTIVE 169 8.4.1 COORDINATION VARIABLE CONSTITUTED BY A GROUP-LEVEL
REFERENCE STATE 170 8.4.2 COORDINATION VARIABLE CONSTITUTED BY VEHICLE
STATES . . . 172 8.5 LITERATURE REVIEW 174 8.5.1 FORMATION CONTROL 174
8.5.2 COOPERATION OF MULTIPLE UAVS 176 8.6 THE REMAINDER OF THE BOOK 178
8.7 NOTES 178 XIV CONTENTS PART VI APPLICATIONS TO MULTIVEHICLE
COOPERATIVE CONTROL 9 RENDEZVOUS AND AXIAL ALIGNMENT WITH MULTIPLE
WHEELED MOBILE ROBOTS 181 9.1 EXPERIMENTAL PLATFORM 181 9.2 EXPERIMENTAL
IMPLEMENTATION 182 9.3 EXPERIMENTAL RESULTS 184 9.3.1 RENDEZVOUS 185
9.3.2 AXIAL ALIGNMENT 188 9.3.3 LESSONS LEARNED 188 9.4 NOTES 189 10
DISTRIBUTED FORMATION CONTROL OF MULTIPLE WHEELED MOBILE ROBOTS WITH A
VIRTUAL LEADER 19 3 10.1 DISTRIBUTED FORMATION CONTROL ARCHITECTURE 193
10.2 EXPERIMENTAL RESULTS ON A MULTIROBOT PLATFORM 197 10.2.1
EXPERIMENTAL PLATFORM AND IMPLEMENTATION 197 10.2.2 FORMATION CONTROL
WITH A SINGLE SUBGROUP LEADER 199 10.2.3 FORMATION CONTROL WITH MULTIPLE
SUBGROUP LEADERS. . . . 200 10.2.4 FORMATION CONTROL WITH DYNAMICALLY
CHANGING SUBGROUP LEADERS AND INTERROBOT INTERACTION TOPOLOGIES 201 10.3
NOTES 202 11 DECENTRALIZED BEHAVIORAL APPROACH TO WHEELED MOBILE ROBOT
FORMATION MANEUVERS 207 11.1 PROBLEM STATEMENT 207 11.2 FORMATION
MANEUVERS 209 11.3 FORMATION CONTROL 211 11.3.1 COUPLED DYNAMICS
FORMATION CONTROL 211 11.3.2 COUPLED DYNAMICS FORMATION CONTROL WITH
PASSIVITY-BASED INTERROBOT DAMPING 214 11.3.3 SATURATED CONTROL 216 11.4
HARDWARE RESULTS 219 11.5 NOTES 220 12 DEEP SPACE SPACECRAFT FORMATION
FLYING 225 12.1 PROBLEM STATEMENT 225 12.1.1 REFERENCE FRAMES 226 12.1.2
DESIRED STATES FOR EACH SPACECRAFT 226 12.1.3 SPACECRAFT DYNAMICS 228
12.2 DECENTRALIZED ARCHITECTURE VIA THE VIRTUAL STRUCTURE APPROACH 228
12.2.1 CENTRALIZED ARCHITECTURE 228 12.2.2 DECENTRALIZED ARCHITECTURE
229 12.3 DECENTRALIZED FORMATION CONTROL STRATEGIES 232 CONTENTS XV
12.3.1 FORMATION CONTROL STRATEGIES FOR EACH SPACECRAFT 233 12.3.2
FORMATION CONTROL STRATEGIES FOR EACH VIRTUAL STRUCTURE INSTANTIATION
234 12.3.3 CONVERGENCE ANALYSIS 236 12.3.4 DISCUSSION 239 12.4
SIMULATION RESULTS 241 12.5 NOTES 245 13 COOPERATIVE FIRE MONITORING
WITH MULTIPLE UAVS 247 13.1 PROBLEM STATEMENT 247 13.2 FIRE PERIMETER
TRACKING FOR A SINGLE UAV 250 13.3 COOPERATIVE TEAM TRACKING 251 13.3.1
LATENCY MINIMIZATION 251 13.3.2 DISTRIBUTED FIRE MONITORING ALGORITHM
253 13.4 SIMULATION RESULTS 257 13.4.1 FIRE MODEL 257 13.4.2 PERIMETER
TRACKING 257 13.4.3 COOPERATIVE TRACKING 258 13.5 NOTES 260 14
COOPERATIVE SURVEILLANCE WITH MULTIPLE UAVS 265 14.1 EXPERIMENTAL TEST
BED 265 14.2 DECENTRALIZED COOPERATIVE SURVEILLANCE 268 14.2.1 SOLUTION
METHODOLOGY 269 14.2.2 SIMULATION RESULTS 271 14.2.3 FLIGHT TESTS 273
14.3 NOTES 274 A SELECTED NOTATIONS AND ABBREVIATIONS 279 * GRAPH THEORY
NOTATIONS 281 * MATRIX THEORY NOTATIONS 285 D RIGID BODY ATTITUDE
DYNAMICS 289 E LINEAR SYSTEM THEORY BACKGROUND 293 F NONLINEAR SYSTEM
THEORY BACKGROUND 295 REFERENCES 299 INDEX 317
|
| any_adam_object | 1 |
| author | Ren, Wei Beard, Randal W. |
| author_facet | Ren, Wei Beard, Randal W. |
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| format | Book |
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| illustrated | Illustrated |
| indexdate | 2024-07-09T22:03:13Z |
| institution | BVB |
| isbn | 9781848000148 1848000146 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-018593612 |
| oclc_num | 633201289 |
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| owner | DE-83 DE-20 |
| owner_facet | DE-83 DE-20 |
| physical | XIV, 306 S. Ill., graph. Darst. 235 mm x 155 mm |
| publishDate | 2008 |
| publishDateSearch | 2008 |
| publishDateSort | 2008 |
| publisher | Springer Springer Berlin |
| record_format | marc |
| series2 | Communications and Control Engineering |
| spelling | Ren, Wei Verfasser aut Distributed Consensus in Multi-vehicle Cooperative Control Theory and Applications Wei Ren ; Randal Beard London Springer 2008 Berlin Springer Berlin XIV, 306 S. Ill., graph. Darst. 235 mm x 155 mm txt rdacontent n rdamedia nc rdacarrier Communications and Control Engineering Digitale Regelung (DE-588)4012293-1 gnd rswk-swf Digitale Regelung (DE-588)4012293-1 s DE-604 Beard, Randal W. Verfasser aut GBV Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=018593612&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Ren, Wei Beard, Randal W. Distributed Consensus in Multi-vehicle Cooperative Control Theory and Applications Digitale Regelung (DE-588)4012293-1 gnd |
| subject_GND | (DE-588)4012293-1 |
| title | Distributed Consensus in Multi-vehicle Cooperative Control Theory and Applications |
| title_auth | Distributed Consensus in Multi-vehicle Cooperative Control Theory and Applications |
| title_exact_search | Distributed Consensus in Multi-vehicle Cooperative Control Theory and Applications |
| title_full | Distributed Consensus in Multi-vehicle Cooperative Control Theory and Applications Wei Ren ; Randal Beard |
| title_fullStr | Distributed Consensus in Multi-vehicle Cooperative Control Theory and Applications Wei Ren ; Randal Beard |
| title_full_unstemmed | Distributed Consensus in Multi-vehicle Cooperative Control Theory and Applications Wei Ren ; Randal Beard |
| title_short | Distributed Consensus in Multi-vehicle Cooperative Control |
| title_sort | distributed consensus in multi vehicle cooperative control theory and applications |
| title_sub | Theory and Applications |
| topic | Digitale Regelung (DE-588)4012293-1 gnd |
| topic_facet | Digitale Regelung |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=018593612&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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