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Information consensus guarantees that robot vehicles sharing information over a network topology have a consistent view of information critical to the coordination task. Assuming only neighbor-neighbor interaction between vehicles, this monograph develops distributed consensus strategies designed to ensure that the information states of all vehicles in a network converge to a common value. This approach strengthens the team, minimizing power consumption and the effects of range and other restrictions. The monograph covers introductory, theoretical and experimental material, featuring - an overview of the use of consensus algorithms in cooperative control; - consensus algorithms in single- and double-integrator, and rigid-body-attitude dynamics; - rendezvous and axial alignment, formation control, deep-space formation flying, fire monitoring and surveillance. Six appendices cover material drawn from graph, matrix, linear and nonlinear systems theories.
| Autorius: | Randal Beard, Wei Ren, |
| Serija: | Communications and Control Engineering |
| Leidėjas: | Springer London |
| Išleidimo metai: | 2007 |
| Knygos puslapių skaičius: | 336 |
| ISBN-10: | 1848000146 |
| ISBN-13: | 9781848000148 |
| Formatas: | 241 x 160 x 24 mm. Knyga kietu viršeliu |
| Kalba: | Anglų |
Parašykite atsiliepimą apie „Distributed Consensus in Multi-vehicle Cooperative Control: Theory and Applications“
