Cooperative Coordination and Formation Control for Multi-agent Systems

  • Zhiyong Sun

Part of the Springer Theses book series (Springer Theses)

Table of contents

  1. Front Matter
    Pages i-xxii
  2. Zhiyong Sun
    Pages 1-11
  3. Zhiyong Sun
    Pages 13-20
  4. Formation Control Systems: Equilibrium and Stability Analysis

  5. Formation Control Systems: Some Practical Considerations

  6. Distributed Coordination Control: General System Models

    1. Front Matter
      Pages 125-125
    2. Zhiyong Sun
      Pages 171-177
  7. Back Matter
    Pages 179-179

About this book


The thesis presents new results on multi-agent formation control, focusing on the distributed stabilization control of rigid formation shapes. It analyzes a range of current research problems such as problems concerning the equilibrium and stability of formation control systems, or the problem of cooperative coordination control when agents have general dynamical models, and discusses practical considerations arising during the implementation of established formation control algorithms.

 In addition, the thesis presents models of increasing complexity, from single integrator models, to double integrator models, to agents modeled by nonlinear kinematic and dynamic equations, including the familiar unicycle model and nonlinear system equations with drift terms. Presenting the fruits of a close collaboration between several top control groups at leading universities including Yale University, Groningen University, Purdue University and Gwangju Institute of Science and Technology (GIST), the thesis spans various research areas, including robustness issues in formations, quantization-based coordination, exponential stability in formation systems, and cooperative coordination of networked heterogeneous systems.


Cooperative Control Networked Systems Rigid Formations Exponential Stability Robustness Issue Distance Mismatch Rank-preserving Property Formation Orientation Quantized Measurements Double-integrator Systems Parameterized Hamiltonian System Formation Feasibility Motion Generation Constant-speed Agents Networked Heterogeneous Systems

Authors and affiliations

  • Zhiyong Sun
    • 1
  1. 1.Research School of EngineeringThe Australian National UniversityCanberraAustralia

Bibliographic information

  • DOI
  • Copyright Information Springer International Publishing AG 2018
  • Publisher Name Springer, Cham
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-319-74264-9
  • Online ISBN 978-3-319-74265-6
  • Series Print ISSN 2190-5053
  • Series Online ISSN 2190-5061
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