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Index
Cover
Table of Contents
Preface
About the Companion Website
1 Introduction
1.1 Motivation
1.2 Notation
1.3 Graph Theory
1.4 Formation Control Problems
1.5 Book Overview and Organization
1.6 Notes and References
2 Single‐Integrator Model
2.1 Formation Acquisition
2.2 Formation Maneuvering
2.3 Flocking
2.4 Target Interception with Unknown Target Velocity
2.5 Dynamic Formation Acquisition
2.6 Simulation Results
2.7 Notes and References
3 Double‐Integrator Model
3.1 Cross‐Edge Energy
3.2 Formation Acquisition
3.3 Formation Maneuvering
3.4 Target Interception with Unknown Target Acceleration
3.5 Dynamic Formation Acquisition
3.6 Simulation Results
3.7 Notes and References
4 Robotic Vehicle Model
4.1 Model Description
4.2 Nonholonomic Kinematics
4.3 Holonomic Dynamics
4.4 Notes and References
5 Experimentation
5.1 Experimental Platform
5.2 Vehicle Equations of Motion
5.3 Low‐Level Control Design
5.4 Experimental Results
Appendix A: Matrix Theory and Linear Algebra
Appendix B: Functions and Signals
Appendix C: Systems Theory
C.1 Linear Systems
C.2 Nonlinear Systems
C.3 Lyapunov Stability
C.4 Input‐to‐State Stability
C.5 Nonsmooth Systems
C.6 Integrator Backstepping
Appendix D: Dynamic Model Terms
References
Index
End User License Agreement
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