Formation and Containment Control for High-order Linear Swarm Systems By: Xiwang Dong Publisher: Springer Print ISBN: 9783662478356, 3662478358 eText ISBN: 9783662478363, 3662478366 Copyright year: 2016 Format: PDF Available from $ 109.00 USD SKU 9783662478363 This book focuses on analysis and design problems for high-order linear time-invariant (LTI) swarm systems (multi-agent systems) to achieve consensus, formation, containment and formation-containment. As a first step, the concepts of practical consensus and formation-containment are introduced. Unlike previous research, the formation in this book can be time-varying. A general framework for consensus, consensus tracking, formation, containment and state formation-containment is presented for the first time. Sufficient/necessary and sufficient conditions, and approaches to designing the protocols for swarm systems to achieve these control objectives, are respectively proposed. Autonomous time-varying formation experiments using five quadrotor unmanned aerial vehicles (UAVs) are conducted in an outdoor setting to demonstrate the theoretical results. Download eBook Free: https://ouo.io/t4V6w1x
