LEADER 05800nam 2200769 a 450 001 9910141502903321 005 20200520144314.0 010 $a1-118-38719-8 010 $a1-299-18849-4 010 $a1-118-56325-5 010 $a1-118-56322-0 035 $a(CKB)2670000000327575 035 $a(EBL)1120454 035 $a(OCoLC)827207811 035 $a(SSID)ssj0000831552 035 $a(PQKBManifestationID)11442983 035 $a(PQKBTitleCode)TC0000831552 035 $a(PQKBWorkID)10890616 035 $a(PQKB)11161766 035 $a(OCoLC)827944783 035 $a(MiAaPQ)EBC1120454 035 $a(Au-PeEL)EBL1120454 035 $a(CaPaEBR)ebr10657599 035 $a(CaONFJC)MIL450099 035 $a(PPN)183430239 035 $a(EXLCZ)992670000000327575 100 $a20120119d2012 uy 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt 182 $cc 183 $acr 200 00$aFlight formation control$b[electronic resource] /$fedited by Jose A. Guerrero, Rogelio Lozano 210 $aLondon $cISTE Ltd. ;$aHoboken, N.J. $cJohn Wiley & Sons$d2012 215 $a1 online resource (342 p.) 225 1 $aISTE 300 $aDescription based upon print version of record. 311 $a1-84821-323-9 320 $aIncludes bibliographical references and index. 327 $aCover; Flight Formation Control; Title Page; Copyright Page; Table of Contents; Chapter 1. Introduction; 1.1. Motivation; 1.2. Historical background; 1.2.1. Aviation history; 1.2.2. Evolution of UAVs; 1.2.3. UAV classification; 1.3. Flight control; 1.4. Flight formation control; 1.4.1. Multiple-input and multiple-output; 1.4.2. Leader/follower; 1.4.3. Virtual structure; 1.4.4. Behavior-based control; 1.4.5. Passivity-based control; 1.5. Outline of the book; 1.6. Bibliography; Chapter 2. Theoretical Preliminaries; 2.1. Passivity; 2.2. Graph theory; 2.3. Robustness problems 327 $a2.3.1. Representation of the parametric uncertainty2.3.2. Families of polynomials; 2.4. Bibliography; Chapter 3. Multiagent Coordination Strategies; 3.1. Introduction; 3.2. Controllability and observability of interconnections; 3.2.1. Cyclic topology; 3.2.2. Chain topology: input and output on agent 1; 3.2.3. Chain topology: input and output on agent 2; 3.2.4. Eigenvalues and eigenvectors of the system; 3.2.5. General case; 3.2.6. The cyclic topology in the general case; 3.2.6.1. Observability; 3.2.6.2. Controllability; 3.2.7. The chain topology in the general case; 3.2.7.1. Controllability 327 $a3.2.7.2. Observability3.2.8. Combinations of chain and cyclic topologies; 3.2.8.1. Controllability; 3.2.8.2. Observability; 3.2.9. Simple configurations that are either non-controllable or non-observable; 3.2.9.1. Example 1; 3.2.9.2. Example 2; 3.2.9.3. Example 3; 3.2.9.4. Example 4; 3.2.9.5. Example 5; 3.3. Formation leader tracking; 3.3.1. Formation leader tracking in the general case; 3.3.2. Observer design; 3.3.3. Simulations; 3.4. Time-varying trajectory tracking; 3.5. Linear high-order multiagent consensus; 3.5.1. Trajectory-tracking control; 3.6. Conclusion; 3.7. Bibliography 327 $aChapter 4. Robust Control Design of Multiagent Systems with Parametric Uncertainty4.1. Introduction; 4.2. Robust control design; 4.3. Robust stability analysis; 4.3.1. Robust strict positive realness; 4.3.2. Robust absolute stability; 4.4. Robust stability of time-delay systems; 4.5. Application to multiagent systems; 4.5.1. Cyclic topology; 4.5.2. Chain topology; 4.5.3. Balanced graph topology; 4.6. Conclusions; 4.7. Bibliography; Chapter 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs; 5.1. Summary; 5.2. Introduction 327 $a5.3. Problem formulation5.4. Adaptive controlled synchronization on strongly connected graphs; 5.4.1. Delay-free synchronization; 5.4.2. Synchronization with time delay; 5.5. Robust controlled synchronization on strongly connected graph; 5.5.1. Delay-free synchronization; 5.5.2. Synchronization with time delay; 5.6. Numerical examples; 5.6.1. Adaptive tracking algorithm; 5.6.2. Robust tracking algorithm; 5.6.3. Disturbances; 5.7. Conclusions; 5.8. Appendix; 5.8.1. Robotic system; 5.8.2. Graph theory; 5.9. Bibliography; Chapter 6. Modeling and Control of Mini UAV; 6.1. Introduction 327 $a6.2. General model 330 $a In the last decade the development and control of Unmanned Aerial Vehicles (UAVs) has attracted a lot of interest. Both researchers and companies have a growing interest in improving this type of vehicle given their many civilian and military applications.This book presents the state of the art in the area of UAV Flight Formation. The coordination and robust consensus approaches are presented in detail as well as formation flight control strategies which are validated in experimental platforms. It aims at helping students and academics alike to better understand what coordination and 410 0$aISTE 606 $aAirplanes$xControl systems 606 $aAirplanes$xAutomatic control 606 $aDrone aircraft$xControl systems 606 $aDrone aircraft$xAutomatic control 606 $aStability of airplanes 615 0$aAirplanes$xControl systems. 615 0$aAirplanes$xAutomatic control. 615 0$aDrone aircraft$xControl systems. 615 0$aDrone aircraft$xAutomatic control. 615 0$aStability of airplanes. 676 $a629.132/6 701 $aGuerrero$b Jose A$g(Jose Alfredo),$f1977-$0872445 701 $aLozano$b R$g(Rogelio),$f1954-$0727156 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910141502903321 996 $aFlight formation control$91947727 997 $aUNINA