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EBOOK
Author Ahn, Hyo-Sung,
Title Formation control : approaches for distributed agents / Hyo-Sung Ahn.
Imprint Cham : Springer, 2019.

LOCATION CALL # STATUS MESSAGE
 OHIOLINK SPRINGER EBOOKS    ONLINE  
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Series Studies in systems, decision and control ; volume 205.
Studies in systems, decision and control ; v. 205.
Subject Formation control (Machine theory)
LOCATION CALL # STATUS MESSAGE
 OHIOLINK SPRINGER EBOOKS    ONLINE  
View online
Series Studies in systems, decision and control ; volume 205.
Studies in systems, decision and control ; v. 205.
Subject Formation control (Machine theory)
Description 1 online resource.
Note Online resource; title from PDF title page (EBSCO, viewed April 2, 2019)
Includes index.
Contents Intro; Foreword; Preface; Acknowledgements; Contents; Notations; Part I Background; 1 Preliminary Background; 1.1 Formations and Collective Behaviors; 1.2 Concepts and Definitions; 1.3 Distributed Systems; 1.3.1 Distributed Sensings; 1.3.2 Distributed Communications; 1.3.3 Distributed Computation and Control; 1.4 Formation Control of Multi-agent Systems; References; 2 Mathematical Background; 2.1 Basics of Graph Theory; 2.2 Rigidity Theory; 2.2.1 Graph Rigidity (Distance Rigidity); 2.2.2 Persistence; 2.2.3 Bearing Rigidity; 2.2.4 Weak Rigidity; 2.3 Consensus; 2.4 Basics of Control Theory
2.4.1 Essential Concepts for Nonlinear Control2.4.2 LaSalle's Invariance Principle and Barbalat's Lemma; 2.4.3 Input-to-State Stability; 2.4.4 Finite-Time Stability; 2.5 Notes; References; Part II Gradient Control Laws; 3 Global Stabilization; 3.1 Gradient Control Laws; 3.2 Global Convergence of Three-Agent Formations; 3.3 Global Convergence of Polygon Formations; 3.4 Global Convergence of K(3)+1 Edge Formations; 3.5 Global Convergence of K(4)-1 Edge Formations; 3.6 Global Convergence in 3-Dimensional Space; 3.7 Summary and Simulations; 3.8 Notes; References; 4 Local Stabilization
4.1 Inter-agent Dynamics4.2 Exponential Convergence; 4.3 Local Asymptotic Stability in d-Dimensional Space; 4.4 Summary and Simulations; 4.5 Notes; References; 5 Persistent Formations; 5.1 Acyclic Minimally Persistent Formations in 2-Dimensional Space; 5.2 Acyclic Minimally Persistent Formations in 3-Dimensional Space; 5.3 Acyclic Persistent Formations in 2-Dimensional Space; 5.4 Finite-Time Convergence of Formations; 5.5 Summary and Simulations; 5.6 Notes; References; Part III Orientation Alignment-based Approaches; 6 Formation Control via Orientation Alignment
6.1 Formation Control via Orientation Estimation6.2 Switching Topology; 6.3 Formation Control via Orientation Control; 6.4 Summary and Simulations; 6.5 Notes; References; 7 Formation Control via Orientation and Position Estimation; 7.1 Formation Control via Orientation Control and Position Estimation in 2-Dimensional Space; 7.2 Formation Control via Orientation Control and Position Estimation in 3-Dimensional Space; 7.3 Summary and Simulations; 7.4 Notes; References; 8 Formation Control via Global Orientation Alignment; 8.1 Formation Control in 2-Dimensional Space
8.2 Formation Control in 3-Dimensional Space8.3 Orientation Control in 2-Dimensional Space; 8.4 Orientation Control in 3-Dimensional Space; 8.4.1 Convergence Analysis of Auxiliary Variables; 8.4.2 Consensus Protocol on SO(3); 8.5 Summary and Simulations; 8.6 Notes; References; Part IV Bearing-Based Formation Control; 9 Formation Control via Bearing Measurements; 9.1 Background; 9.2 Bearing-Based Formation Control; 9.3 Bearing-Based Formation Control via Orientation Alignment; 9.4 Bearing-Based Control of a Cyclic Triangular Formation; 9.5 Summary and Simulations; 9.6 Notes; References
ISBN 9783030151874 (electronic bk.)
3030151875 (electronic bk.)
9783030151867
3030151867
OCLC # 1091029009
Additional Format Original 3030151867 9783030151867 (OCoLC)1085227149.