Cooperative Control of Dynamical Systems: Applications to Autonomous Vehicles / Edition 1

by Zhihua Qu

Overview

Stability theory has allowed us to study both qualitative and quantitative properties of dynamical systems, and control theory has played a key role in designing numerous systems. Contemporary sensing and communication n- works enable collection and subscription of geographically-distributed inf- mation and such information can be used to enhance significantly the perf- manceofmanyofexisting systems. Throughasharedsensing/communication network, heterogeneous systems can now be controlled to operate robustly and autonomously; cooperative control is to make the systems act as one group and exhibit certain cooperative behavior, and it must be pliable to physical and environmental constraints as well as be robust to intermittency, latency and changing patterns of the information flow in the network. This book attempts to provide a detailed coverage on the tools of and the results on analyzing and synthesizing cooperative systems. Dynamical systems under consideration can be either continuous-time or discrete-time, either linear or non-linear, and either unconstrained or constrained. Technical contents of the book are divided into three parts. The first part consists of Chapters 1, 2, and 4. Chapter 1 provides an overview of coope- tive behaviors, kinematical and dynamical modeling approaches, and typical vehicle models. Chapter 2 contains a review of standard analysis and design tools in both linear control theory and non-linear control theory. Chapter 4 is a focused treatment of non-negativematrices and their properties,multipli- tive sequence convergence of non-negative and row-shastic matrices, and the presence of these matrices and sequences in linear cooperative systems.

Product Details

ISBN-13:	9781848823242
Publisher:	Springer London
Publication date:	02/17/2009
Edition description:	2009
Pages:	325
Product dimensions:	6.30(w) x 9.50(h) x 1.00(d)

About the Author

Dr. Qu's areas of expertise are non-linear systems theory, non-linear robust control, various advanced control methodologies, robotics and other areas of control applications. Dr. Qu is the author of two books, Robust Control Design for Nonlinear Uncertain Systems by John Wiley Interscience (1998) and Robust Tracking Control of Robot Manipulators by IEEE Press (1996). His publications also include over 100 archival journal papers and about 200 book chapters and conference articles. His research has been supported by governmental agencies (NSF, AFOSR, NASA) and industry, and the funding he received exceeds 3 million. Dr. Qu is a senior member of IEEE and currently serving as Associate Editor for Automatica and for International Journal of Robotics and Automation.

Table of Contents

Preliminaries on Systems Theory.- Control of Non-holonomic Systems.- Matrix Theory for Cooperative Systems.- Cooperative Control of Linear Systems.- Cooperative Control of Non-linear Systems.