Cooperative Control Design: A Systematic, Passivity-Based Approach (Communications and Control Engineering)

Bai, He; Arcak, Murat; Wen, John

ISBN 10: 1461400139 / ISBN 13: 9781461400134

Editore: Springer, 2011

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Dati bibliografici

• Titolo: Cooperative Control Design: A Systematic, Passivity-Based Approach (Communications and Control Engineering)
• Editore: Springer
• Data di pubblicazione: 2011
• Lingua: Inglese
• ISBN 10: 1461400139
• ISBN 13: 9781461400134
• Rilegatura: Rilegato
• Condizione: New

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Riassunto

Cooperative Control Design: A Systematic, Passivity-Based Approach discusses multi-agent coordination problems, including formation control, attitude coordination, and synchronization. The goal of the book is to introduce passivity as a design tool for multi-agent systems, 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. Followed by the case of adaptive redesigns for reference velocity recovery 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.

Dalla quarta di copertina

Cooperative Control Design: A Systematic, Passivity-Based Approach discusses multi-agent coordination problems, including formation control, attitude coordination, and agreement. The book introduces passivity as a design tool for multi-agent systems, provides exemplary work using this tool,and illustrates 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 adaptive designs for reference velocity recovery, including a basic design and a modified design with enhanced parameter convergence properties. Formation control is presented as an example illustrating the passivity-based framework and its adaptive designs. The coverage is concluded with a comprehensive discussion of the agreement problem with examples using attitude dynamics and Euler- Lagrangian systems.

Cooperative Control Design: A Systematic, Passivity-Based Approach is an ideal volume for researchers and engineers working in control and engineering design.