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Cooperative Control Design: A Systematic, Passivity-Based Approach
discusses multi-agent coordination problems, including formation
control, attitude coordination, and synchronization. The goal of
the book is to introduce passivity as a design tool for multi-agent
systems, to provide exemplary work using this tool, and to
illustrate 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. Followed by the case of adaptive redesigns for
reference velocity recovery while describing a basic design, a
modified design and the parameter convergence problem. Formation
control is presented as it relates to relative distance control and
relative position control. The coverage is concluded with a
comprehensive discussion of agreement and the synchronization
problem with an example using attitude coordination.
Cooperative Control Design: A Systematic, Passivity-Based Approach
discusses multi-agent coordination problems, including formation
control, attitude coordination, and synchronization. The goal of
the book is to introduce passivity as a design tool for multi-agent
systems, to provide exemplary work using this tool, and to
illustrate 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. Followed by the case of adaptive redesigns for
reference velocity recovery while describing a basic design, a
modified design and the parameter convergence problem. Formation
control is presented as it relates to relative distance control and
relative position control. The coverage is concluded with a
comprehensive discussion of agreement and the synchronization
problem with an example using attitude coordination.
This brief presents a suite of computationally efficient methods
for bounding trajectories of dynamical systems with
multi-dimensional intervals, or 'boxes'. It explains the importance
of bounding trajectories for evaluating the robustness of systems
in the face of parametric uncertainty, and for verification or
control synthesis problems with respect to safety and reachability
properties. The methods presented make use of: interval analysis;
monotonicity theory; contraction theory; and data-driven techniques
that sample trajectories. The methods are implemented in an
accompanying open-source Toolbox for Interval Reachability
Analysis. This brief provides a tutorial description of each
method, focusing on the requirements and trade-offs relevant to the
user, requiring only basic background on dynamical systems. The
second part of the brief describes applications of interval
reachability analysis. This makes the brief of interest to a wide
range of academic researchers, graduate students, and practising
engineers in the field of control and verification.
This book addresses a major problem for today's large-scale
networked systems: certification of the required stability and
performance properties using analytical and computational models.
On the basis of illustrative case studies, it demonstrates the
applicability of theoretical methods to biological networks,
vehicle fleets, and Internet congestion control. Rather than tackle
the network as a whole -an approach that severely limits the
ability of existing methods to cope with large numbers of physical
components- the book develops a compositional approach that derives
network-level guarantees from key structural properties of the
components and their interactions. The foundational tool in this
approach is the established dissipativity theory, which is reviewed
in the first chapter and supplemented with modern computational
techniques. The book blends this theory with the authors' recent
research efforts at a level that is accessible to graduate students
and practising engineers familiar with only the most basic
nonlinear systems concepts. Code associated with the numerical
examples can be downloaded at extras.springer.com, allowing readers
to reproduce the examples and become acquainted with the relevant
software.
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