Cooperative control of dynamical systems: applications to autonomous vehicles

This text begins with an overview of concepts from system theory. New resultsare provided on feedback stabilization and smooth control of nonholonomic systems. Control design moves from open-loop steering control of an individual vehicle to cooperative control of multiple vehicles, a progression culminating in a decentralized control hierarchy requiring only local feedback information.Novel methods are presented: parameterization for collision avoidance and optimization in path planning; near-optimal control for tracking and regulation of nonholonomic chained systems and matrix-theoretical analysis of cooperativity. These methods generate solutions of guaranteed performance for problems of:optimal and collision-free path planning; near-optimal stabilization of nonholonomic systems; cooperative control of dynamic systems. Examples, simulationsand comparative studies add zest to the fundamental issues, illustrate the technical approaches and verify the performance of the final control designs. Shows the reader a number of new methods and results for collision avoidance, tracking and cooperative control Builds the technical presentation from open-loop control in single-vehicle systems to closed, real-time implementation in multi-vehicle situations Demonstrates successful feedback stabilization and smooth control for nonholonomic systems INDICE: Introduction.- Preliminaries on Systems Theory.- Control of Nonholonomic Systems.- Matrix Theory for and Cooperative Systems.- Cooperative Control of Linear Systems.- Cooperative Control of Linear Systems.

• ISBN: 978-1-84882-324-2
• Editorial: Springer
• Encuadernacion: Cartoné
• Páginas: 335
• Fecha Publicación: 01/03/2009
• Nº Volúmenes: 1
• Idioma: Inglés