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E-grāmata: Formation Control of Multiple Autonomous Vehicle Systems [Wiley Online]

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  • Formāts: 272 pages
  • Izdošanas datums: 03-Aug-2018
  • Izdevniecība: John Wiley & Sons Inc
  • ISBN-10: 1119263085
  • ISBN-13: 9781119263081
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  • Wiley Online
  • Cena: 152,77 €*
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Formation Control of Multiple Autonomous Vehicle SystemsPalielināt
  • Formāts: 272 pages
  • Izdošanas datums: 03-Aug-2018
  • Izdevniecība: John Wiley & Sons Inc
  • ISBN-10: 1119263085
  • ISBN-13: 9781119263081
Citas grāmatas par šo tēmu:
Wiley Online E-booksMore info about Wiley Online
Rokasgrāmatas mājas lapa: https://onlinelibrary.wiley.com/doi/book/10.1002/9781119263081

This text explores formation control of vehicle systems and introduces three representative systems: space systems, aerial systems and robotic systems

Formation Control of Multiple Autonomous Vehicle Systems offers a review of the core concepts of dynamics and control and examines the dynamics and control aspects of formation control in order to study a wide spectrum of dynamic vehicle systems such as spacecraft, unmanned aerial vehicles and robots. The text puts the focus on formation control that enables and stabilizes formation configuration, as well as formation reconfiguration of these vehicle systems. The authors develop a uniform paradigm of describing vehicle systems’ dynamic behaviour that addresses both individual vehicle’s motion and overall group’s movement, as well as interactions between vehicles.

The authors explain how the design of proper control techniques regulate the formation motion of these vehicles and the development of a system level decision-making strategy that increases the level of autonomy for the entire group of vehicles to carry out their missions. The text is filled with illustrative case studies in the domains of space, aerial and robotics.

•    Contains uniform coverage of "formation" dynamic systems development

•    Presents representative case studies in selected applications in the space, aerial and robotic systems domains

•    Introduces an experimental platform of using laboratory three-degree-of-freedom helicopters with step-by-step instructions as an example

•    Provides open source example models and simulation codes

•    Includes notes and further readings that offer details on relevant research topics, recent progress and further developments in the field

Written for researchers and academics in robotics and unmanned systems looking at motion synchronization and formation problems, Formation Control of Multiple Autonomous Vehicle Systems is a vital resource that explores the motion synchronization and formation control of vehicle systems as represented by three representative systems: space systems, aerial systems and robotic systems.

Preface xiii
List of Tables
xvii
List of Figures
xix
Acknowledgments xxv
Part I Formation Control: Fundamental Concepts
1(62)
1 Formation Kinematics
3(14)
1.1 Notation
3(2)
1.2 Vectorial Kinematics
5(8)
1.2.1 Frame Rotation
5(2)
1.2.2 The Motion of a Vector
7(4)
1.2.3 The First Time Derivative of a Vector
11(1)
1.2.4 The Second Time Derivative of a Vector
12(1)
1.2.5 Motion with Respect to Multiple Frames
12(1)
1.3 Euler Parameters and Unit Quaternion
13(4)
2 Formation Dynamics of Motion Systems
17(12)
2.1 Virtual Structure
17(9)
2.1.1 Formation Control Problem Statement
19(3)
2.1.2 Extended Formation Control Problem
22(4)
2.2 Behaviour-based Formation Dynamics
26(1)
2.3 Leader-Follower Formation Dynamics
27(2)
3 Fundamental Formation Control
29(34)
3.1 Unified Problem Description
29(3)
3.1.1 Some Key Definitions for Formation Control
29(1)
3.1.2 A Simple Illustrative Example
30(2)
3.2 Information Interaction Conditions
32(4)
3.2.1 Algebraic Graph Theory
32(1)
3.2.2 Conditions for the Case without a Leader
33(2)
3.2.3 Conditions for the Case with a Leader
35(1)
3.3 Synchronization Errors
36(4)
3.3.1 Local Synchronization Error: Type I
37(1)
3.3.2 Local Synchronization Error: Type II
38(2)
33.3 Local Synchronization Error: Type III
40(2)
3.4 Velocity Synchronization Control
42(3)
3.4.1 Velocity Synchronization without a Leader
42(1)
3.4.2 Velocity Synchronization with a Leader
43(2)
3.5 Angular-position Synchronization Control
45(3)
3.5.1 Synchronization without a Position Reference
45(2)
3.5.2 Synchronization to a Position Reference
47(1)
3.6 Formation via Synchronized Tracking
48(4)
3.6.1 Formation Control Solution 1
50(1)
3.6.2 Formation Control Solution 2
51(1)
3.7 Simulations
52(8)
3.7.1 Verification of Theorem 3.12
52(2)
3.7.2 Verification of Theorem 3.13
54(3)
3.7.3 Verification of Theorem 3.14
57(3)
3.8 Summary
60(3)
Bibliography for Part I
61(2)
Part II Formation Control: Advanced Topics
63(52)
4 Output-feedback Solutions to Formation Control
65(16)
4.1 Introduction
65(1)
4.2 Problem Statement
65(1)
4.3 Linear Output-feedback Control
66(2)
4.4 Bounded Output-feedback Control
68(3)
4.5 Distributed Linear Control
71(1)
4.6 Distributed Bounded Control
72(1)
4.7 Simulations
73(5)
4.7.1 Case 1: Verification of Theorem 4.1
73(3)
4.7.2 Case 2: Verification of Theorem 4.5
76(2)
4.8 Summary
78(3)
5 Robust and Adaptive Formation Control
81(34)
5.1 Problem Statement
81(2)
5.2 Continuous Control via State Feedback
83(7)
5.2.1 Controller Development
83(1)
5.2.2 Analysis of Tracker u0i
84(1)
5.2.3 Design of Disturbance Estimators
85(2)
5.2.4 Closed-loop Performance Analysis
87(3)
5.3 Bounded State Feedback Control
90(5)
5.3.1 Design of Bounded State Feedback
90(2)
5.3.2 Robustness Analysis
92(2)
5.3.3 The Effect of UDE on Stability
94(1)
5.3.4 The Effect of UDE on the Bounds of Control
94(1)
5.4 Continuous Control via Output Feedback
95(2)
5.4.1 Design of u0i and ˆdi
95(1)
5.4.2 Stability Analysis
96(1)
5.5 Discontinuous Control via Output Feedback
97(5)
5.5.1 Controller Design
98(2)
5.5.2 Stability Analysis
100(2)
5.6 GSE-based Synchronization Control
102(6)
5.6.1 Coupled Errors
103(2)
5.6.2 Controller Design and Convergence Analysis
105(3)
5.7 GSE-based Adaptive Formation Control
108(3)
5.7.1 Problem Statement
108(1)
5.7.2 Controller Development
109(2)
5.8 Summary
111(4)
Bibliography for Part II
113(2)
Part III Formation Control: Case Studies
115(76)
6 Formation Control of Space Systems
117(14)
6.1 Lagrangian Formulation of Spacecraft Formation
117(5)
6.1.1 Lagrangian Formulation
117(1)
6.1.2 Attitude Dynamics of Rigid Spacecraft
118(2)
6.1.3 Relative Translational Dynamics
120(2)
6.2 Adaptive Formation Control
122(1)
6.3 Applications and Simulation Results
123(7)
6.3.1 Application 1: Leader--Follower Spacecraft Pair
123(1)
6.3.1.1 Simulation Condition
123(1)
6.3.1.2 Control Parameters
123(1)
6.3.1.3 Simulation Results and Analysis
124(1)
6.3.2 Application 2: Multiple Spacecraft in Formation
124(6)
6.4 Summary
130(1)
7 Formation Control of Aerial Systems
131(26)
7.1 Vortex-induced Aerodynamics
131(7)
7.1.1 Model of the Trailing Vortices of Leader Aircraft
134(1)
7.1.2 Single Horseshoe Vortex Model
135(2)
7.1.3 Continuous Vortex Sheet Model
137(1)
7.2 Aircraft Autopilot Models
138(2)
7.2.1 Models for the Follower Aircraft
139(1)
7.2.2 Kinematics for Close-formation Flight
140(1)
7.3 Controller Design
140(7)
7.3.1 Linear Proportional-integral Controller
140(2)
7.3.2 UDE-based Formation-flight Controller
142(1)
7.3.2.1 Formation Flight Controller Design
143(1)
7.3.2.2 Uncertainty and Disturbance Estimator
144(3)
7.4 Simulation Results
147(7)
7.4.1 Simulation Results for Controller 1
147(1)
7.4.2 Simulation Results for Controller 2
148(6)
7.5 Summary
154(3)
8 Formation Control of Robotic Systems
157(34)
8.1 Introduction
157(2)
8.2 Visual Tracking
159(8)
8.2.1 Imaging Hardware
159(1)
8.2.2 Image Distortion
160(3)
8.2.3 Color Thresholding
163(1)
8.2.4 Noise Rejection
163(2)
8.2.5 Data Extraction
165(2)
8.3 Synchronization Control
167(9)
8.3.1 Synchronization
167(1)
8.3.2 Formation Parameters
168(1)
8.3.3 Architecture
169(1)
8.3.4 Control Law
169(1)
8.3.5 Simulations
170(1)
8.3.5.1 Constant Formation along Circular Trajectory
171(2)
8.3.5.2 Time-varying Formation along Linear Trajectory
173(3)
8.4 Passivity Control
176(5)
8.4.1 Passivity
176(1)
8.4.2 Formation Parameters
176(1)
8.4.3 Control Law
177(1)
8.4.4 Simulation
178(3)
8.5 Experiments
181(5)
8.5.1 Setup
182(1)
8.5.2 Results
182(1)
8.5.2.1 Constant Formation Along Circular Trajectory
182(1)
8.5.2.2 Time-varying Formation along Linear Trajectory
183(3)
8.6 Summary
186(5)
Bibliography for Part III
189(2)
Part IV Formation Control: Laboratory
191(34)
9 Experiments on 3DOF Desktop Helicopters
193(32)
9.1 Description of the Experimental Setup
193(3)
9.2 Mathematical Models
196(5)
9.2.1 Nonlinear 3DOF Model
196(3)
9.2.2 2DOF Model for Elevation and Pitch Control
199(2)
9.3 Experiment 1: GSE-based Synchronized Tracking
201(7)
9.3.1 Objective
201(1)
9.3.2 Initial Conditions and Desired Trajectories
202(1)
9.3.3 Control Strategies
203(1)
9.3.4 Disturbance Condition
203(1)
9.3.5 Experimental Results
204(4)
9.3.6 Summary
208(1)
9.4 Experiment 2: UDE-based Robust Synchronized Tracking
208(8)
9.4.1 Objective
208(1)
9.4.2 Initial Conditions and Desired Trajectories
208(1)
9.4.3 Control Strategies
209(1)
9.4.4 Experimental Results and Discussions
210(5)
9.4.5 Summary
215(1)
9.5 Experiment 3: Output-feedback-based Sliding-mode Control
216(9)
9.5.1 Objective
216(1)
9.5.2 Initial Conditions and Desired Trajectories
216(1)
9.5.3 Control Strategies
217(1)
9.5.4 Experimental Results and Discussions
217(5)
9.5.5 Summary
222(1)
Bibliography for Part IV
223(2)
Part V Appendix
225(12)
Bibliography for Appendix 237(2)
Index 239
Hugh H. T. Liu is a Professor at the University of Toronto Institute for Aerospace Studies (UTIAS), Canada. His research work has included a number of aircraft systems and control related areas. Professor Liu has made significant research contributions in autonomous unmanned systems.

Bo Zhu is an Associate Professor at the School of Aeronautics and Astronautics, University of Electronic Science and Technology of China (UESTC). His research work has included a number of aircraft systems and control related areas.
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