Swarm system, also known as multi-agent system, refers to a system composed of multiple subsystems (agents) with certain communication, calculation, decision-making, and action capabilities through local information interaction, such as a group of unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), satellites, etc. Formation tracking control of swarm systems is an important technical support and approach for the emergence of swarm intelligence at motion control level.
By applying formation tracking control, swarm system agents can adjust their relations in the state or output space through neighboring information interaction, and then the swarm system can achieve favorable space-time conditions for many cooperative tasks such as source seeking, target enclosing, and surveillance. Thus, complex missions can be performed efficiently or cost-effectively. In cross-domain collaborative applications, including air-ground coordination and air-sea coordination, swarm systems are usually composed of several heterogeneous agents, and swarm intelligence can be enhanced by complementary functions of different agents. How to achieve time-varying formation tracking for heterogeneous swarm systems is crucial for cross-domain coordination, which has important theoretical value and practical significance.
This important book presents a systematic theoretical approach and control framework on the time-varying formation tracking for high-order heterogeneous swarm systems. Distributed controller design and stability analysis of closed-loop systems for several specific formation tracking problems are provided. Furthermore, the proposed control approaches are applied to practical cooperative experiment platforms composed of UAVs and UGVs, and several formation tracking experiments are carried out to further verify the effectiveness of the theories.
Author(s): Yongzhao Hua, Xiwang Dong, Zhang Ren
Publisher: CRC Press
Year: 2022
Language: English
Pages: 277
City: Boca Raton
Cover
Half Title
Title Page
Copyright Page
Dedication
Contents
Preface
Symbol Description
1. Introduction
1.1. Scientific and Engineering Background
1.2. Literature Review on Formation Tracking Control
1.2.1. Formation Tracking of Homogeneous Swarm System
1.2.2. Formation Tracking of Heterogeneous Swarm System
1.3. Key Problems and Challenges
1.4. Contents and Outline
1.5. Conclusions
2. Preliminaries
2.1. Notations
2.2. Graph Theory
2.3. Algebra and Matrix Theory
2.4. Linear and Non-linear System Theory
2.5. Finite-time Stability Theory
2.6. Dynamics Models of Unmanned Vehicles
2.7. Conclusions
3. Formation Tracking Control for Homogeneous Swarm Systems
3.1. Introduction
3.2. Formation Control with Switching Directed Topologies
3.2.1. Problem Description
3.2.2. Time-varying Formation Analysis
3.2.3. Time-varying Formation Protocol Design
3.2.4. Numerical Simulations
3.3. Formation Tracking Control with Multiple Leaders
3.3.1. Problem Description
3.3.2. Time-varying Formation Tracking Analysis and Design
3.3.3. Numerical Simulation
3.4. Conclusions
4. Formation Tracking Control for Swarm Systems with Heterogeneous Disturbances
4.1. Introduction
4.2. Robust Adaptive Formation Tracking with Matched Disturbances
4.2.1. Problem Description
4.2.2. Robust Adaptive Formation Tracking Controller Design and Stability Analysis
4.2.3. Simulation Example
4.3. Finite-time Formation Tracking with Mismatched Disturbances
4.3.1. Problem Description
4.3.2. Finite-time Controller Design and Stability Analysis
4.3.3. Simulation Example
4.4. Conclusions
5. Formation Tracking Control for Heterogeneous Swarm Systems with a Non-autonomous Leader
5.1. Introduction
5.2. Time-varying Formation Control for Heterogeneous Swarm Systems
5.2.1. Problem Description
5.2.2. Formation Controller Design and Stability Analysis
5.2.3. Simulation Example
5.3. Formation Tracking Control for Heterogeneous Swarm Systems with a Non-Autonomous Leader
5.3.1. Problem Description
5.3.2. Formation Tracking Controller Design and Stability Analysis
5.3.3. Simulation Example
5.4. Conclusions
6. Formation Tracking for Heterogeneous Swarm Systems with Multiple Leaders
6.1. Introduction
6.2. Time-varying Formation Tracking with Switching Directed Graphs
6.2.1. Problem Description
6.2.2. Formation Tracking Controller Design and Stability Analysis with Switching Graphs
6.2.3. Numerical Simulations
6.3. Time-varying Formation Tracking Without Well-Informed Follower
6.3.1. Problem Formulation
6.3.2. Distributed Observer Design with Multiple Leaders
6.3.3. Finite-time Solution of Regulator Equations
6.3.4. Formation Tracking Protocol Design and Analysis
6.3.5. Numerical Simulation
6.4. Conclusions
7. Formation-containment Tracking Control for Heterogeneous Swarm Systems
7.1. Introduction
7.2. Predefined Containment Control
7.2.1. Problem Description
7.2.2. Predefined Containment Controller Design and Stability Analysis
7.2.3. Simulation Example
7.3. Formation-containment Tracking Control
7.3.1. Problem Description
7.3.2. Formation-containment Tracking Controller Design and Stability analysis
7.3.3. Simulation Example
7.4. Conclusions
8. Experiments on Formation Tracking for UAV and UGV Swarm Systems
8.1. Introduction
8.2. Time-varying Formation Tracking for UAV Swarm Systems
8.2.1. Problem Description
8.2.2. Formation Tracking Controller Design
8.2.3. Simulation and Experimental Results
8.3. Formation-containment Control for UAV Swarm Systems
8.3.1. Problem Description
8.3.2. Formation-containment Analysis and Protocol Design
8.3.3. Simulation and Experimental Results
8.4. Time-varying Formation Tracking for UAV-UGV Heterogeneous Swarm Systems
8.4.1. Problem Description
8.4.2. Formation Tracking Controller Design
8.4.3. Simulation and Experimental Results
8.5. Conclusions
9. Conclusions and Future Prospects
9.1. Conclusions
9.2. Future Prospects
Bibliography
Index
