Titlebook: Distributed Consensus in Multi-vehicle Cooperative Control; Theory and Applicati Wei Ren,Randal W. Beard Book 2008 Springer-Verlag London 2

Facet-Joints

Distributed Formation Control of Multiple Wheeled Mobile Robots with a Virtual Leadersed on the group-level consensus tracking algorithm, a consensus-based formation control strategy is then applied for vehicle level control. The proposed architecture is experimentally implemented and validated on a multirobot platform under neighbor-to-neighbor information exchange with both single and multiple subgroup leaders involved.

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難管

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Xu Shangxia,Zhang Houcan,Zhang Kanon state derivatives are addressed. We then consider consensus algorithms that ensure that the information states and their derivatives evolve according to a reference model. Three strategies, full access to the reference model, leader-following strategy, and partial access to the reference model, are addressed.

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Overview of Consensus Algorithms in Cooperative Controlture review on consensus algorithms is provided. Theoretical results regarding consensus-seeking under both time-invariant and dynamically changing communication topologies are summarized. A few specific applications of consensus algorithms to multivehicle cooperative control are described. The orga

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Consensus Algorithms for Single-integrator Dynamicsunder both fixed and dynamically changing interaction topologies. This chapter shows, respectively, that consensus under fixed interaction topologies can be achieved asymptotically if and only if the directed interaction topology has a directed spanning tree and consensus under dynamically changing

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Consensus Tracking with a Reference State time-varying consensus reference state. We first propose and analyze a consensus tracking algorithm with a constant consensus reference state. We then propose consensus tracking algorithms with a time-varying consensus reference state and show conditions under which consensus is reached on the time

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Consensus Algorithms for Double-integrator Dynamicsives, extending the algorithms for single-integrator dynamics. We first propose a fundamental consensus algorithm and derive conditions under which consensus is reached over directed fixed and switching interaction topologies, respectively. Unlike the single-integrator case, we show that having a di