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Produktbild: Flight Formation Control

Flight Formation Control

Aus der Reihe ISTE

205,99 €

inkl. gesetzl. MwSt., Versandkostenfrei

Beschreibung

Produktdetails

Einband

Gebundene Ausgabe

Erscheinungsdatum

05.03.2012

Herausgeber

Josep Guerrero + weitere

Verlag

John Wiley & Sons

Seitenzahl

328

Maße (L/B/H)

23,4/16/2,3 cm

Gewicht

635 g

Auflage

1. Auflage

Sprache

Englisch

ISBN

978-1-84821-323-4

Beschreibung

Rezension

"Overall this book delivers necessary backgrounds, basic and advanced nonlinear control algorithms and the associated challenges such as visual navigation and communication for those who are interested in studying and developing UAV formation flight strategies with guaranteed stability and performance." ( T he A eronautical J ournal , 3 February 2015)

Produktdetails

Einband

Gebundene Ausgabe

Erscheinungsdatum

05.03.2012

Herausgeber

Verlag

John Wiley & Sons

Seitenzahl

328

Maße (L/B/H)

23,4/16/2,3 cm

Gewicht

635 g

Auflage

1. Auflage

Sprache

Englisch

ISBN

978-1-84821-323-4

Herstelleradresse

Libri GmbH
Europaallee 1
36244 Bad Hersfeld
DE

Email: gpsr@libri.de

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  • Produktbild: Flight Formation Control
  • Chapter 1. Introduction 1
    J.A. GUERRERO

    1.1. Motivation 1

    1.2. Historical background 4

    1.3. Flight control 9

    1.4. Flight formation control 11

    1.5. Outline of the book 13

    1.6. Bibliography 15

    Chapter 2. Theoretical Preliminaries 19
    J.A. GUERRERO

    2.1. Passivity 19

    2.2. Graph theory 20

    2.3. Robustness problems 21

    2.4. Bibliography 25

    Chapter 3. Multiagent Coordination Strategies 27
    J.A. GUERRERO, R. LOZANO, M.W. SPONG, N. CHOPRA

    3.1. Introduction 28

    3.2. Controllability and observability of interconnections 28

    3.3. Formation leader tracking 37

    3.4. Time-varying trajectory tracking 40

    3.5. Linear high-order multiagent consensus 44

    3.6. Conclusion 49

    3.7. Bibliography 50

    Chapter 4. Robust Control Design of Multiagent Systems with Parametric Uncertainty 51
    J.A. GUERRERO, G. ROMERO

    4.1. Introduction 52

    4.2. Robust control design 54

    4.3. Robust stability analysis 56

    4.4. Robust stability of time-delay systems 61

    4.5. Application to multiagent systems 62

    4.6. Conclusions 73

    4.7. Bibliography 73

    Chapter 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs 75
    Y.-C. LIU, N. CHOPRA

    5.1. Summary 75

    5.2. Introduction 75

    5.3. Problem formulation 77

    5.4. Adaptive controlled synchronization on strongly connected graphs 79

    5.5. Robust controlled synchronization on strongly connected graph 83

    5.6. Numerical examples 87

    5.7. Conclusions 93

    5.8. Appendix 94

    5.9. Bibliography 95

    Chapter 6. Modeling and Control of Mini UAV 99
    G. FLORES COLUNGA, J.A. GUERRERO, J. ESCAREÑO, R. LOZANO

    6.1. Introduction 99

    6.2. General model 101

    6.3. Control of a mini tailsitter 103

    6.4. Quad-tilting rotor convertible MAV 117

    6.5. Concluding remarks 131

    6.6. Bibliography 132

    Chapter 7. Flight Formation Control Strategies for Mini UAVs 135
    J.A. GUERRERO

    7.1. Introduction 135

    7.2. Formation geometry 137

    7.3. Communication network 138

    7.4. Dynamic model 139

    7.5. Formation flying control based on coordination 142

    7.6. Formation flying control based on nested saturations 148

    7.7. Trajectory-tracking control 153

    7.8. Simulation results 158

    7.9. Conclusions 162

    7.10. Bibliography 162

    Chapter 8. Formation Based on Potential Functions 165
    L. GARCÍA, A. DZUL

    8.1. Introduction 165

    8.2. Dynamical model 166

    8.3. Formation control 167

    8.4. Position control 170

    8.5. Simulation results 183

    8.6. Conclusions 189

    8.7. Bibliography 189

    Chapter 9. Quadrotor Vision-Based Control 191
    J.E. GOMEZ-BALDERAS, J.A. GUERRERO, S. SALAZAR, R. LOZANO, P. CASTILLO

    9.1. Introduction 191

    9.2. Quadrotor dynamic model and control 194

    9.3. Computer vision preliminaries 197

    9.4. Tracking of a visual target 201

    9.5. Tracking of a visual line 209

    9.6. Embedded architecture 214

    9.7. Experimental results 214

    9.8. Conclusions 221

    9.9. Bibliography 221

    Chapter 10. Toward Vision-Based Coordination of Quadrotor Platoons 225
    L.R. GARCÍA CARRILLO, J.A. GUERRERO, R. LOZANO

    10.1. Introduction 225

    10.2. Problem statement 227

    10.3. Dynamic model and control of a quadrotor 228

    10.4. Vision-based position estimation 229

    10.5. Coordination position control of two quadrotors 235

    10.6. Architecture of the experimental platforms 237

    10.7. Experimental results 240

    10.8. Conclusions and future work 242

    10.9. Bibliography 243

    Chapter 11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields 247
    J.A. GUERRERO, Y. BESTAOUI, R. LOZANO

    11.1. Introduction 247

    11.2. Preliminaries 250

    11.3. Path planning 251

    11.4. Quadrotor formation control scheme 258

    11.5. Quadrotor trajectory-tracking control 258

    11.6. Simulation results 259

    11.7. Conclusions and future work 264

    11.8. Bibliography 264

    Chapter 12. Impact of Wireless Medium Access Protocol on the Quadrotor Fo