Cooperative control of dynamical systems: applications to autonomous vehicles
Gespeichert in:
| Beteilige Person: | |
|---|---|
| Format: | Buch |
| Sprache: | Englisch |
| Veröffentlicht: |
London
Springer
2009
|
| Schlagwörter: | |
| Links: | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=018016359&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| Umfang: | XVI, 325 S. Ill., graph. Darst. |
| ISBN: | 9781848823242 9781848823259 |
Internformat
MARC
| LEADER | 00000nam a2200000 c 4500 | ||
|---|---|---|---|
| 001 | BV035739924 | ||
| 003 | DE-604 | ||
| 005 | 20091208 | ||
| 007 | t| | ||
| 008 | 090924s2009 xx ad|| |||| 00||| eng d | ||
| 015 | |a 08,N47,0930 |2 dnb | ||
| 020 | |a 9781848823242 |c Gb. : EUR 106.95 (freier Pr.) |9 978-1-84882-324-2 | ||
| 020 | |a 9781848823259 |9 978-1-84882-325-9 | ||
| 024 | 3 | |a 9781848823242 | |
| 028 | 5 | 2 | |a 11615606 |
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| 041 | 0 | |a eng | |
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| 084 | |a SK 950 |0 (DE-625)143273: |2 rvk | ||
| 084 | |a 620 |2 sdnb | ||
| 100 | 1 | |a Qu, Zhihua |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Cooperative control of dynamical systems |b applications to autonomous vehicles |c Zhihua Qu |
| 264 | 1 | |a London |b Springer |c 2009 | |
| 300 | |a XVI, 325 S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 650 | 4 | |a Motor vehicles |x Dynamics | |
| 650 | 0 | 7 | |a Autonomes System |0 (DE-588)4143713-5 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Bahnplanung |0 (DE-588)4267628-9 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Kooperatives Informationssystem |0 (DE-588)4681247-7 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Dynamisches System |0 (DE-588)4013396-5 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Steuerung |0 (DE-588)4057472-6 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Autonomer Roboter |0 (DE-588)4304075-5 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Regelungssystem |0 (DE-588)4134712-2 |2 gnd |9 rswk-swf |
| 689 | 0 | 0 | |a Dynamisches System |0 (DE-588)4013396-5 |D s |
| 689 | 0 | 1 | |a Kooperatives Informationssystem |0 (DE-588)4681247-7 |D s |
| 689 | 0 | 2 | |a Autonomes System |0 (DE-588)4143713-5 |D s |
| 689 | 0 | 3 | |a Regelungssystem |0 (DE-588)4134712-2 |D s |
| 689 | 0 | 4 | |a Autonomer Roboter |0 (DE-588)4304075-5 |D s |
| 689 | 0 | 5 | |a Bahnplanung |0 (DE-588)4267628-9 |D s |
| 689 | 0 | 6 | |a Steuerung |0 (DE-588)4057472-6 |D s |
| 689 | 0 | |5 DE-604 | |
| 856 | 4 | 2 | |m Digitalisierung UB Bayreuth |q application/pdf |u http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=018016359&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |3 Inhaltsverzeichnis |
| 943 | 1 | |a oai:aleph.bib-bvb.de:BVB01-018016359 | |
Datensatz im Suchindex
| _version_ | 1819374225974099968 |
|---|---|
| adam_text | Contents
List of Figures
XV
1
Introduction
.............................................. 1
1.1
Cooperative, Pliable and Robust Systems
.................. 1
1.1.1
Control Through an Intermittent Network
........... 2
1.1.2
Cooperative Behaviors
............................ 4
1.1.3
Pliable and Robust Systems
........................ 10
1.2
Modeling of Constrained Mechanical Systems
............... 11
1.2.1
Motion Constraints
................................ 11
1.2.2
Kinematic Model
.................................. 12
1.2.3
Dynamic Model
.................................. 13
1.2.4
Hamiltonian and Energy
........................... 15
1.2.5
Reduced-order Model
............................. 15
1.2.6
Underactuated Systems
............................ 17
1.3
Vehicle Models
......................................... 18
1.3.1
Differential-drive Vehicle
........................... 18
1.3.2
A Car-like Vehicle
................................ 20
1.3.3
Tractor-trailer Systems
............................ 23
1.3.4
A Planar Space Robot
............................. 25
1.3.5
Newton s Model of Rigid-body Motion
.............. 26
1.3.6
Underwater Vehicle and Surface Vessel
............... 29
1.3.7
Aerial Vehicles
.................................... 31
1.3.8
Other Models
..................................... 34
1.4
Control of Heterogeneous Vehicles
........................ 34
1.5
Notes and Summary
..................................... 37
2
Preliminaries on Systems Theory
......................... 39
2.1
Matrix Algebra
......................................... 39
2.2
Useful Theorems and Lemma
............................. 43
2.2.1
Contraction Mapping Theorem
..................... 43
2.2.2
Barbalat Lemma
.................................. 44
Contents
2.2.3
Comparison
Theorem ............................. 45
2.3
Lyapunov Stability Analysis
.............................. 48
2.3.1
Lyapunov Direct Method
.......................... 51
2.3.2
Explanations and Enhancements
.................... 54
2.3.3
Control Lyapunov Function
........................ 58
2.3.4
Lyapunov Analysis of Switching Systems
............ 59
2.4
Stability Analysis of Linear Systems
....................... 62
2.4.1
Eigenvalue Analysis of Linear Time-invariant Systems
.. 62
2.4.2
Stability of Linear Time-varying Systems
............ 63
2.4.3
Lyapunov Analysis of Linear Systems
............... 66
2.5
Controllability
.......................................... 69
2.6
Non-linear Design Approaches
............................ 73
2.6.1
Recursive Design
................................. 73
2.6.2
Feedback Linearization
............................ 75
2.6.3
Optimal Control
.................................. 77
2.6.4
Inverse Optimality and Lyapunov Function
.......... 78
2.7
Notes and Summary
..................................... 79
Control of Non-holonomic Systems
........................ 81
3.1
Canonical Form and Its Properties
........................ 81
3.1.1
Chained Form
.................................... 82
3.1.2
Controllability
.................................... 85
3.1.3
Feedback Linearization
............................. 87
3.1.4
Options of Control Design
......................... 90
3.1.5
Uniform Complete Controllability
................... 92
3.1.6
Equivalence and Extension of Chained Form
.......... 96
3.2
Steering Control and Real-time Trajectory Planning
......... 98
3.2.1
Navigation of Chained Systems
..................... 98
3.2.2
Path Planning in a Dynamic Environment
............104
3.2.3
A Real-time and Optimized Path Planning Algorithm
. 109
3.3
Feedback Control of Non-holonomic Systems
...............116
3.3.1
Tracking Control Design
...........................118
3.3.2
Quadratic Lyapunov Designs of Feedback Control
.....120
3.3.3
Other Feedback Designs
............................128
3.4
Control of Vehicle Systems
...............................130
3.4.1
Formation Control
................................131
3.4.2
Multi-objective Reactive Control
...................136
3.5
Notes and Summary
.....................................147
Matrix Theory for Cooperative Systems
..................153
4.1
Non-negative Matrices and Their Properties
................153
4.1.1
Reducible and Irreducible Matrices
..................154
4.1.2
Perron-Frobenius Theorem
.........................155
4.1.3
Cyclic and Primitive Matrices
......................158
Contents xiii
4.2
Importance
of Non-negative Matrices
......................161
4.2.1
Geometrical Representation of Non-negative Matrices
.. 165
4.2.2
Graphical Representation of Non-negative Matrices
___166
4.3
M-matrices and Their Properties
.........................167
4.3.1
Diagonal Dominance
...............................167
4.3.2
Non-singular M-matrices
...........................168
4.3.3
Singular M-matrices
...............................170
4.3.4
Irreducible M-matrices
.............................172
4.3.5
Diagonal Lyapunov Matrix
.........................174
4.3.6
A Class of Interconnected Systems
..................176
4.4
Multiplicative Sequence of Row-stochastic Matrices
.........177
4.4.1
Convergence of Power Sequence
.....................178
4.4.2
Convergence Measures
.............................179
4.4.3
Sufficient Conditions on Convergence
................187
4.4.4
Necessary and Sufficient Condition on Convergence
... 188
4.5
Notes and Summary
.....................................192
Cooperative Control of Linear Systems
...................195
5.1
Linear Cooperative System
...............................195
5.1.1
Characteristics of Cooperative Systems
..............196
5.1.2
Cooperative Stability
..............................198
5.1.3
A Simple Cooperative System
......................200
5.2
Linear Cooperative Control Design
........................201
5.2.1
Matrix of Sensing and Communication Network
.......202
5.2.2
Linear Cooperative Control
........................203
5.2.3
Conditions of Cooperative Controllability
............206
5.2.4
Discrete Cooperative System
.......................209
5.3
Applications of Cooperative Control
.......................210
5.3.1
Consensus Problem
...............................210
5.3.2
Rendezvous Problem and Vector Consensus
..........212
5.3.3
Hands-off Operator and Virtual Leader
..............212
5.3.4
Formation Control
................................
216
5.3.5
Synchronization and Stabilization of Dynamical
000
Systems
.........................................
ίίΔ
5.4
Ensuring Network Connectivity
...........................
223
5.5
Average System and Its Properties
........................
226
5.6
Cooperative Control Lyapunov Function
...................
229
5.6.1
Fixed Topology
...................................
¿iZ
5.6.2
Varying Topologies
................................
2^
5.7
Robustness of Cooperative Systems
.......................
2ά°
5.8
Integral Cooperative Control Design
......................
248
5.9
Notes and Summary
.....................................
xiv Contents
6
Cooperative Control
of Non-linear Systems
...............253
6.1
Networked Systems with Balanced Topologies
..............254
6.2
Networked Systems of Arbitrary Topologies
................256
6.2.1
A Topology-based Comparison Theorem
.............256
6.2.2
Generalization
....................................263
6.3
Cooperative Control Design
..............................266
6.3.1
Systems of Relative Degree One
....................267
6.3.2
Systems in the Feedback Form
.....................270
6.3.3 Affine
Systems
....................................274
6.3.4
Non-affine Systems
................................275
6.3.5
Output Cooperation
...............................277
6.4
Discrete Systems and Algorithms
.........................278
6.5
Driftless Non-holonomic Systems
.........................281
6.5.1
Output Rendezvous
................................281
6.5.2
Vector Consensus During Constant Line Motion
.......285
6.6
Robust Cooperative Behaviors
............................288
6.6.1
Delayed Sensing and Communication
................290
6.6.2
Vehicle Cooperation in a Dynamic Environment
.......294
6.7
Notes and Summary
.....................................296
References
.....................................................303
Index
..........................................................319
|
| any_adam_object | 1 |
| author | Qu, Zhihua |
| author_facet | Qu, Zhihua |
| author_role | aut |
| author_sort | Qu, Zhihua |
| author_variant | z q zq |
| building | Verbundindex |
| bvnumber | BV035739924 |
| callnumber-first | T - Technology |
| callnumber-label | TL243 |
| callnumber-raw | TL243 |
| callnumber-search | TL243 |
| callnumber-sort | TL 3243 |
| callnumber-subject | TL - Motor Vehicles and Aeronautics |
| classification_rvk | SK 950 |
| ctrlnum | (OCoLC)305125631 (DE-599)BVBBV035739924 |
| dewey-full | 629.8 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8 |
| dewey-search | 629.8 |
| dewey-sort | 3629.8 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Maschinenbau / Maschinenwesen Mathematik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| id | DE-604.BV035739924 |
| illustrated | Illustrated |
| indexdate | 2024-12-20T13:49:37Z |
| institution | BVB |
| isbn | 9781848823242 9781848823259 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-018016359 |
| oclc_num | 305125631 |
| open_access_boolean | |
| owner | DE-703 |
| owner_facet | DE-703 |
| physical | XVI, 325 S. Ill., graph. Darst. |
| publishDate | 2009 |
| publishDateSearch | 2009 |
| publishDateSort | 2009 |
| publisher | Springer |
| record_format | marc |
| spellingShingle | Qu, Zhihua Cooperative control of dynamical systems applications to autonomous vehicles Motor vehicles Dynamics Autonomes System (DE-588)4143713-5 gnd Bahnplanung (DE-588)4267628-9 gnd Kooperatives Informationssystem (DE-588)4681247-7 gnd Dynamisches System (DE-588)4013396-5 gnd Steuerung (DE-588)4057472-6 gnd Autonomer Roboter (DE-588)4304075-5 gnd Regelungssystem (DE-588)4134712-2 gnd |
| subject_GND | (DE-588)4143713-5 (DE-588)4267628-9 (DE-588)4681247-7 (DE-588)4013396-5 (DE-588)4057472-6 (DE-588)4304075-5 (DE-588)4134712-2 |
| title | Cooperative control of dynamical systems applications to autonomous vehicles |
| title_auth | Cooperative control of dynamical systems applications to autonomous vehicles |
| title_exact_search | Cooperative control of dynamical systems applications to autonomous vehicles |
| title_full | Cooperative control of dynamical systems applications to autonomous vehicles Zhihua Qu |
| title_fullStr | Cooperative control of dynamical systems applications to autonomous vehicles Zhihua Qu |
| title_full_unstemmed | Cooperative control of dynamical systems applications to autonomous vehicles Zhihua Qu |
| title_short | Cooperative control of dynamical systems |
| title_sort | cooperative control of dynamical systems applications to autonomous vehicles |
| title_sub | applications to autonomous vehicles |
| topic | Motor vehicles Dynamics Autonomes System (DE-588)4143713-5 gnd Bahnplanung (DE-588)4267628-9 gnd Kooperatives Informationssystem (DE-588)4681247-7 gnd Dynamisches System (DE-588)4013396-5 gnd Steuerung (DE-588)4057472-6 gnd Autonomer Roboter (DE-588)4304075-5 gnd Regelungssystem (DE-588)4134712-2 gnd |
| topic_facet | Motor vehicles Dynamics Autonomes System Bahnplanung Kooperatives Informationssystem Dynamisches System Steuerung Autonomer Roboter Regelungssystem |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=018016359&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT quzhihua cooperativecontrolofdynamicalsystemsapplicationstoautonomousvehicles |