| Overview of Consensus Algorithms in Cooperative Control | |
| Overview of Consensus Algorithms in Cooperative Control | p. 3 |
| Introduction | p. 3 |
| Literature Review: Consensus Algorithms | p. 6 |
| Fundamental Consensus Algorithms | p. 7 |
| Convergence Analysis of Consensus Algorithms | p. 9 |
| Synthesis and Extensions of Consensus Algorithms | p. 15 |
| Design of Coordination Strategies via Consensus Algorithms | p. 17 |
| Monograph Overview | p. 21 |
| Notes | p. 22 |
| Consensus Algorithms for Single-integrator Dynamics | |
| Consensus Algorithms for Single-integrator Dynamics | p. 25 |
| Fundamental Algorithms | p. 25 |
| Consensus Under Fixed Interaction Topologies | p. 28 |
| Consensus Using a Continuous-time Algorithm | p. 28 |
| Consensus Using a Discrete-time Algorithm | p. 38 |
| Consensus Under Dynamically Changing Interaction Topologies | p. 42 |
| Consensus Using a Continuous-time Algorithm | p. 45 |
| Consensus Using a Discrete-time Algorithm | p. 49 |
| Simulation Results | p. 50 |
| Notes | p. 52 |
| Consensus Tracking with a Reference State | p. 55 |
| Problem Statement | p. 55 |
| Constant Consensus Reference State | p. 56 |
| Time-varying Consensus Reference State | p. 58 |
| Fundamental Consensus Tracking Algorithm | p. 61 |
| Consensus Tracking Algorithm with Bounded Control Inputs | p. 66 |
| Information Feedback to the Consensus Reference State | p. 68 |
| Extension to Relative State Deviations | p. 71 |
| Notes | p. 73 |
| Consensus Algorithms for Double-integrator Dynamics | |
| Consensus Algorithms for Double-integrator Dynamics | p. 77 |
| Consensus Algorithm | p. 77 |
| Convergence Analysis Under Fixed Interaction Topologies | p. 79 |
| Convergence Analysis Under Switching Interaction Topologies | p. 91 |
| Consensus with Bounded Control Inputs | p. 96 |
| Consensus Without Relative State Derivative Measurements | p. 100 |
| Notes | p. 103 |
| Extensions to a Reference Model | p. 105 |
| Problem Statement | p. 105 |
| Consensus with a Reference for Information State Derivatives | p. 106 |
| Consensus with Coupling Between Neighbors' Information State Derivatives | p. 106 |
| Consensus Without Coupling Between Neighbors' Information State Derivatives | p. 109 |
| Consensus with References for Information States and Their Derivatives | p. 111 |
| Full Access to the Reference Model | p. 112 |
| Leader-following Strategy | p. 113 |
| General Case | p. 114 |
| Notes | p. 118 |
| Consensus Algorithms for Rigid Body Attitude Dynamics | |
| Consensus Algorithms for Rigid Body Attitude Dynamics | p. 123 |
| Problem Statement | p. 123 |
| Attitude Consensus with Zero Final Angular Velocities | p. 124 |
| Attitude Consensus Without Absolute and Relative Angular Velocity Measurements | p. 128 |
| Attitude Consensus with Nonzero Final Angular Velocities | p. 131 |
| Simulation Results | p. 132 |
| Notes | p. 134 |
| Relative Attitude Maintenance and Reference Attitude Tracking | p. 141 |
| Relative Attitude Maintenance | p. 141 |
| Fixed Relative Attitudes with Zero Final Angular Velocities | p. 141 |
| Time-varying Relative Attitudes and Angular Velocities | p. 142 |
| Reference Attitude Tracking | p. 143 |
| Reference Attitude Tracking with Attitudes Represented by Euler Parameters | p. 143 |
| Reference Attitude Tracking with Attitudes Represented by Modified Rodriguez Parameters | p. 147 |
| Simulation Results | p. 150 |
| Notes | p. 152 |
| Consensus-based Design Methodologies for Distributed Multivehicle Cooperative Control | |
| Consensus-based Design Methodologies for Distributed Multivehicle Cooperative Control | p. 159 |
| Introduction | p. 159 |
| Coupling in Cooperative Control Problems | p. 161 |
| Objective Coupling | p. 162 |
| Local Coupling | p. 162 |
| Full Coupling | p. 162 |
| Dynamic Coupling | p. 163 |
| Approach to Distributed Cooperative Control Problems with an Optimization Objective | p. 163 |
| Cooperation Constraints and Objectives | p. 164 |
| Coordination Variables and Coordination Functions | p. 165 |
| Centralized Cooperation Scheme | p. 166 |
| Consensus Building | p. 167 |
| Approach to Distributed Cooperative Control Problems Without an Optimization Objective | p. 169 |
| Coordination Variable Constituted by a Group-level Reference State | p. 170 |
| Coordination Variable Constituted by Vehicle States | p. 172 |
| Literature Review | p. 174 |
| Formation Control | p. 174 |
| Cooperation of Multiple UAVs | p. 176 |
| The Remainder of the Book | p. 178 |
| Notes | p. 178 |
| Rendezvous and Axial Alignment with Multiple Wheeled Mobile Robots | p. 181 |
| Experimental Platform | p. 181 |
| Experimental Implementation | p. 182 |
| Experimental Results | p. 184 |
| Rendezvous | p. 185 |
| Axial Alignment | p. 188 |
| Lessons Learned | p. 188 |
| Notes | p. 189 |
| Distributed Formation Control of Multiple Wheeled Mobile Robots with a Virtual Leader | p. 193 |
| Distributed Formation Control Architecture | p. 193 |
| Experimental Results on a Multirobot Platform | p. 197 |
| Experimental Platform and Implementation | p. 197 |
| Formation Control with a Single Subgroup Leader | p. 199 |
| Formation Control with Multiple Subgroup Leaders | p. 200 |
| Formation Control with Dynamically Changing Subgroup Leaders and Interrobot Interaction Topologies | p. 201 |
| Notes | p. 202 |
| Decentralized Behavioral Approach to Wheeled Mobile Robot Formation Maneuvers | p. 207 |
| Problem Statement | p. 207 |
| Formation Maneuvers | p. 209 |
| Formation Control | p. 211 |
| Coupled Dynamics Formation Control | p. 211 |
| Coupled Dynamics Formation Control with Passivity-based Interrobot Damping | p. 214 |
| Saturated Control | p. 216 |
| Hardware Results | p. 219 |
| Notes | p. 220 |
| Deep Space Spacecraft Formation Flying | p. 225 |
| Problem Statement | p. 225 |
| Reference Frames | p. 226 |
| Desired States for Each Spacecraft | p. 226 |
| Spacecraft Dynamics | p. 228 |
| Decentralized Architecture via the Virtual Structure Approach | p. 228 |
| Centralized Architecture | p. 228 |
| Decentralized Architecture | p. 229 |
| Decentralized Formation Control Strategies | p. 232 |
| Formation Control Strategies for Each Spacecraft | p. 233 |
| Formation Control Strategies for Each Virtual Structure Instantiation | p. 234 |
| Convergence Analysis | p. 236 |
| Discussion | p. 239 |
| Simulation Results | p. 241 |
| Notes | p. 245 |
| Cooperative Fire Monitoring with Multiple UAVs | p. 247 |
| Problem Statement | p. 247 |
| Fire Perimeter Tracking for a Single UAV | p. 250 |
| Cooperative Team Tracking | p. 251 |
| Latency Minimization | p. 251 |
| Distributed Fire Monitoring Algorithm | p. 253 |
| Simulation Results | p. 257 |
| Fire Model | p. 257 |
| Perimeter Tracking | p. 257 |
| Cooperative Tracking | p. 258 |
| Notes | p. 260 |
| Cooperative Surveillance with Multiple UAVs | p. 265 |
| Experimental Test Bed | p. 265 |
| Decentralized Cooperative Surveillance | p. 268 |
| Solution Methodology | p. 269 |
| Simulation Results | p. 271 |
| Flight Tests | p. 273 |
| Notes | p. 274 |
| Selected Notations and Abbreviations | p. 279 |
| Graph Theory Notations | p. 281 |
| Matrix Theory Notations | p. 285 |
| Rigid Body Attitude Dynamics | p. 289 |
| Linear System Theory Background | p. 293 |
| Nonlinear System Theory Background | p. 295 |
| References | p. 299 |
| Index | p. 317 |
| Table of Contents provided by Publisher. All Rights Reserved. |
