Cooperative Control Design

A Systematic, Passivity-Based Approach

  • He Bai
  • Murat Arcak
  • John Wen
Part of the Communications and Control Engineering book series (CCE, volume 89)

Table of contents

  1. Front Matter
    Pages i-xiv
  2. He Bai, Murat Arcak, John Wen
    Pages 1-17
  3. He Bai, Murat Arcak, John Wen
    Pages 19-49
  4. He Bai, Murat Arcak, John Wen
    Pages 93-107
  5. He Bai, Murat Arcak, John Wen
    Pages 109-129
  6. He Bai, Murat Arcak, John Wen
    Pages 131-146
  7. He Bai, Murat Arcak, John Wen
    Pages 147-164
  8. He Bai, Murat Arcak, John Wen
    Pages 165-177
  9. Back Matter
    Pages 179-209

About this book

Introduction

Cooperative Control Design: A Systematic, Passivity-Based Approach discusses multi-agent coordination problems, including formation control, attitude coordination, and agreement. The book introduces passivity as a design tool for multi-agent systems, provides exemplary work using this tool,and illustrates its advantages in designing robust cooperative control algorithms. The discussion begins with an introduction to passivity and demonstrates how passivity can be used as a design tool for motion coordination.This is followed by adaptive designs for reference velocity recovery, including a basic design and a modified design with enhanced parameter convergence properties. Formation control is presented as an example illustrating the passivity-based framework and its adaptive designs. The coverage is concluded with a comprehensive discussion of the agreement problem with examples using attitude dynamics and Euler- Lagrangian systems.

Cooperative Control Design: A Systematic, Passivity-Based Approach is an ideal volume for researchers and engineers working in control and engineering design.


Keywords

Arcak Cooperative Control Formation Control Heterogeneous nonlinear agent dynamics Multi-Agent Systems Passivity Passivity Tool Reference Velocity Recovery Relative Distance Control Relative Position Control Wen

Authors and affiliations

  • He Bai
    • 1
  • Murat Arcak
    • 2
  • John Wen
    • 3
  1. 1.UtopiaCompression CorporationLos AngelesUSA
  2. 2., Electrical Engineering and Computer ScieUniversity of California BerkeleyBerkeleyUSA
  3. 3., Electrical, Computer and Systems EngineeRensselaer Polytechnic InstituteTroyUSA

Bibliographic information

  • DOI https://doi.org/10.1007/978-1-4614-0014-1
  • Copyright Information Springer Science+Businees Media, LLC 2011
  • Publisher Name Springer, New York, NY
  • eBook Packages Engineering
  • Print ISBN 978-1-4614-0013-4
  • Online ISBN 978-1-4614-0014-1
  • Series Print ISSN 0178-5354
  • About this book