Cooperative control design: a systematic, passivity-based approach

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 controlalgorithms. 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 whiledescribing 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. 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 decentralizedand can be easily refined and used again. Covers complex and heterogeneous nonlinear agent dynamics, including Lagrangian and Hamiltonian systems Includes a framework that offers design. INDICE: 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.

• ISBN: 978-1-4614-0013-4
• Editorial: Springer New York
• Encuadernacion: Cartoné
• Páginas: 240
• Fecha Publicación: 29/06/2011
• Nº Volúmenes: 1
• Idioma: Inglés