Communications and Control Engineering: Theory and Applications

Ren, Wei; Beard, Randal

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.

Details

Published by: Springer

Publication Date: 2010-10-19

Format: Paperback

ISBN-13: 9781849967013

DOI: 10.1007/978-1-84800-015-5

Dimensions: 235cm x155cm

Pages: 319