Formation Tracking Control for Heterogeneous Swarm Systems

Swarm system, also known as a multi-agent system, is a system composed of multiple subsystems (agents) with certain communication, calculation, decision-making, and action capabilities. Formation tracking control is an important technical support and approach for the emergence of swarm intelligence at motion control level. This book presents a systematic theoretical approach and control framework on the time-varying formation tracking for high-order heterogeneous swarm systems, with distributed controller design and stability analysis of closed-loop systems for several specific formation tracking problems.

Format: Hardback
Length: 264 pages
Publication date: 11 March 2022
Publisher: Taylor & Francis Ltd

A swarm system, also referred to as a multi-agent system, encompasses a network of interconnected subsystems (agents) that possess specific communication, computation, decision-making, and action capabilities. These agents, which can include a diverse range of elements such as unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), satellites, and more, collaborate and coordinate their actions through local information exchange. Formation tracking control is a crucial technical support and approach for the emergence of swarm intelligence at the motion control level. By implementing formation tracking control, swarm system agents can dynamically adjust their relationships within the state or output space through neighboring information interaction. This allows the swarm system to achieve favorable space-time conditions for various cooperative tasks, such as source seeking, target enclosing, and surveillance. Consequently, complex missions can be executed efficiently or cost-effectively.

In cross-domain collaborative applications, including air-ground coordination and air-sea coordination, swarm systems often comprise a diverse array of heterogeneous agents. Swarm intelligence can be further enhanced by the complementary functions of these agents. Achieving time-varying formation tracking for heterogeneous swarm systems is of paramount importance for cross-domain coordination, holding significant theoretical value and practical significance.

This comprehensive book offers a systematic theoretical approach and control framework for time-varying formation tracking in high-order heterogeneous swarm systems. It delves into distributed controller design and stability analysis for closed-loop systems addressing various formation tracking problems. Furthermore, the proposed control approaches are applied to practical cooperative experiment platforms consisting of UAVs and UGVs, conducting several formation tracking experiments.

By exploring the principles and techniques of formation tracking control in swarm systems, this book provides valuable insights into the development of intelligent and autonomous systems capable of performing complex tasks in diverse environments. It serves as a valuable resource for researchers, practitioners, and students in the fields of robotics, control systems, and artificial intelligence.

Weight: 556g
Dimension: 163 x 241 x 23 (mm)
ISBN-13: 9781032201160