Formation Tracking Control for Heterogeneous Swarm Systems

Cover
Half Title
Title Page
Copyright Page
Dedication
	Contents
Preface
Symbol Description
1. Introduction
	1.1. Scientific and Engineering Background
	1.2. Literature Review on Formation Tracking Control
		1.2.1. Formation Tracking of Homogeneous Swarm System
		1.2.2. Formation Tracking of Heterogeneous Swarm System
	1.3. Key Problems and Challenges
	1.4. Contents and Outline
	1.5. Conclusions
2. Preliminaries
	2.1. Notations
	2.2. Graph Theory
	2.3. Algebra and Matrix Theory
	2.4. Linear and Non-linear System Theory
	2.5. Finite-time Stability Theory
	2.6. Dynamics Models of Unmanned Vehicles
	2.7. Conclusions
3. Formation Tracking Control for Homogeneous Swarm Systems
	3.1. Introduction
	3.2. Formation Control with Switching Directed Topologies
		3.2.1. Problem Description
		3.2.2. Time-varying Formation Analysis
		3.2.3. Time-varying Formation Protocol Design
		3.2.4. Numerical Simulations
	3.3. Formation Tracking Control with Multiple Leaders
		3.3.1. Problem Description
		3.3.2. Time-varying Formation Tracking Analysis and Design
		3.3.3. Numerical Simulation
	3.4. Conclusions
4. Formation Tracking Control for Swarm Systems with Heterogeneous Disturbances
	4.1. Introduction
	4.2. Robust Adaptive Formation Tracking with Matched Disturbances
		4.2.1. Problem Description
		4.2.2. Robust Adaptive Formation Tracking Controller Design and Stability Analysis
		4.2.3. Simulation Example
	4.3. Finite-time Formation Tracking with Mismatched Disturbances
		4.3.1. Problem Description
		4.3.2. Finite-time Controller Design and Stability Analysis
		4.3.3. Simulation Example
	4.4. Conclusions
5. Formation Tracking Control for Heterogeneous Swarm Systems with a Non-autonomous Leader
	5.1. Introduction
	5.2. Time-varying Formation Control for Heterogeneous Swarm Systems
		5.2.1. Problem Description
		5.2.2. Formation Controller Design and Stability Analysis
		5.2.3. Simulation Example
	5.3. Formation Tracking Control for Heterogeneous Swarm Systems with a Non-Autonomous Leader
		5.3.1. Problem Description
		5.3.2. Formation Tracking Controller Design and Stability Analysis
		5.3.3. Simulation Example
	5.4. Conclusions
6. Formation Tracking for Heterogeneous Swarm Systems with Multiple Leaders
	6.1. Introduction
	6.2. Time-varying Formation Tracking with Switching Directed Graphs
		6.2.1. Problem Description
		6.2.2. Formation Tracking Controller Design and Stability Analysis with Switching Graphs
		6.2.3. Numerical Simulations
	6.3. Time-varying Formation Tracking Without Well-Informed Follower
		6.3.1. Problem Formulation
		6.3.2. Distributed Observer Design with Multiple Leaders
		6.3.3. Finite-time Solution of Regulator Equations
		6.3.4. Formation Tracking Protocol Design and Analysis
		6.3.5. Numerical Simulation
	6.4. Conclusions
7. Formation-containment Tracking Control for Heterogeneous Swarm Systems
	7.1. Introduction
	7.2. Predefined Containment Control
		7.2.1. Problem Description
		7.2.2. Predefined Containment Controller Design and Stability Analysis
		7.2.3. Simulation Example
	7.3. Formation-containment Tracking Control
		7.3.1. Problem Description
		7.3.2. Formation-containment Tracking Controller Design and Stability analysis
		7.3.3. Simulation Example
	7.4. Conclusions
8. Experiments on Formation Tracking for UAV and UGV Swarm Systems
	8.1. Introduction
	8.2. Time-varying Formation Tracking for UAV Swarm Systems
		8.2.1. Problem Description
		8.2.2. Formation Tracking Controller Design
		8.2.3. Simulation and Experimental Results
	8.3. Formation-containment Control for UAV Swarm Systems
		8.3.1. Problem Description
		8.3.2. Formation-containment Analysis and Protocol Design
		8.3.3. Simulation and Experimental Results
	8.4. Time-varying Formation Tracking for UAV-UGV Heterogeneous Swarm Systems
		8.4.1. Problem Description
		8.4.2. Formation Tracking Controller Design
		8.4.3. Simulation and Experimental Results
	8.5. Conclusions
9. Conclusions and Future Prospects
	9.1. Conclusions
	9.2. Future Prospects
Bibliography
Index