Flight formation control /
In the last decade the development and control of Unmanned Aerial Vehicles (UAVs) has attracted a lot of interest. Both researchers and companies have a growing interest in improving this type of vehicle given their many civilian and military applications. This book presents the state of the art in...
| Άλλοι συγγραφείς: | , |
|---|---|
| Μορφή: | Ηλ. βιβλίο |
| Γλώσσα: | English |
| Έκδοση: |
London :
ISTE Ltd. ;
2012.
Hoboken, N.J. : John Wiley & Sons, 2012. |
| Σειρά: | ISTE.
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| Θέματα: | |
| Διαθέσιμο Online: | Full Text via HEAL-Link |
Πίνακας περιεχομένων:
- Cover; Flight Formation Control; Title Page; Copyright Page; Table of Contents; Chapter 1. Introduction; 1.1. Motivation; 1.2. Historical background; 1.2.1. Aviation history; 1.2.2. Evolution of UAVs; 1.2.3. UAV classification; 1.3. Flight control; 1.4. Flight formation control; 1.4.1. Multiple-input and multiple-output; 1.4.2. Leader/follower; 1.4.3. Virtual structure; 1.4.4. Behavior-based control; 1.4.5. Passivity-based control; 1.5. Outline of the book; 1.6. Bibliography; Chapter 2. Theoretical Preliminaries; 2.1. Passivity; 2.2. Graph theory; 2.3. Robustness problems.
- 2.3.1. Representation of the parametric uncertainty2.3.2. Families of polynomials; 2.4. Bibliography; Chapter 3. Multiagent Coordination Strategies; 3.1. Introduction; 3.2. Controllability and observability of interconnections; 3.2.1. Cyclic topology; 3.2.2. Chain topology: input and output on agent 1; 3.2.3. Chain topology: input and output on agent 2; 3.2.4. Eigenvalues and eigenvectors of the system; 3.2.5. General case; 3.2.6. The cyclic topology in the general case; 3.2.6.1. Observability; 3.2.6.2. Controllability; 3.2.7. The chain topology in the general case; 3.2.7.1. Controllability.
- 3.2.7.2. Observability3.2.8. Combinations of chain and cyclic topologies; 3.2.8.1. Controllability; 3.2.8.2. Observability; 3.2.9. Simple configurations that are either non-controllable or non-observable; 3.2.9.1. Example 1; 3.2.9.2. Example 2; 3.2.9.3. Example 3; 3.2.9.4. Example 4; 3.2.9.5. Example 5; 3.3. Formation leader tracking; 3.3.1. Formation leader tracking in the general case; 3.3.2. Observer design; 3.3.3. Simulations; 3.4. Time-varying trajectory tracking; 3.5. Linear high-order multiagent consensus; 3.5.1. Trajectory-tracking control; 3.6. Conclusion; 3.7. Bibliography.
- Chapter 4. Robust Control Design of Multiagent Systems with Parametric Uncertainty4.1. Introduction; 4.2. Robust control design; 4.3. Robust stability analysis; 4.3.1. Robust strict positive realness; 4.3.2. Robust absolute stability; 4.4. Robust stability of time-delay systems; 4.5. Application to multiagent systems; 4.5.1. Cyclic topology; 4.5.2. Chain topology; 4.5.3. Balanced graph topology; 4.6. Conclusions; 4.7. Bibliography; Chapter 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs; 5.1. Summary; 5.2. Introduction.
- 5.3. Problem formulation5.4. Adaptive controlled synchronization on strongly connected graphs; 5.4.1. Delay-free synchronization; 5.4.2. Synchronization with time delay; 5.5. Robust controlled synchronization on strongly connected graph; 5.5.1. Delay-free synchronization; 5.5.2. Synchronization with time delay; 5.6. Numerical examples; 5.6.1. Adaptive tracking algorithm; 5.6.2. Robust tracking algorithm; 5.6.3. Disturbances; 5.7. Conclusions; 5.8. Appendix; 5.8.1. Robotic system; 5.8.2. Graph theory; 5.9. Bibliography; Chapter 6. Modeling and Control of Mini UAV; 6.1. Introduction.
