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Informationen zum Autor Yi Guo, PhD, is an Associate Professor of Electrical and Computer Engineering at the Stevens Institute of Technology. She has more than 15 years of research experience in controls and robotics, and has taught robotics and controls courses for the past 10 years at the Stevens Institute of Technology. Dr. Guo has authored/coauthored over 100 peer-reviewed journals and conference papers. She is currently the Associate Editor of the IEEE Robotics and Automation Magazine. Dr. Guo frequently presents at international conferences, and gives invited talks for students and other professionals. Klappentext Examines new cooperative control methodologies tailored to real-world applications in various domains such as in communication systems, physics systems, and multirobotic systems The book presents applications of distributed cooperative control in engineering and physics systems to address emerging needs for high efficiency distributed control systems. After introducing backgrounds and reviewing fundamental distributed consensus algorithms, the book is divided into three parts. Part I discusses networked communication systems, including the distributed consensus for quantized communication, cooperative spectrum sensing, and distributed radio environment mapping for cognitive radio networks. Part II presents cooperative control of multirobotic systems and discusses the source-seeking and plume-tracking problems by distributed cooperating robots. Part III addresses the cooperative control of multiagent physics systems, examining friction control of coupled nanoparticles and synchronization of coupled laser arrays. Provides the fundamental mechanism for solving collective behaviors in naturally occurring systems and cooperative behaviors in man-made systems Discusses cooperative control methodologies using real-world applications, including semiconductor laser arrays, mobile sensor networks, and multirobotic systems Includes results from the research group at the Stevens Institute of Technology to show how advanced control technologies can impact challenging issues, such as high energy systems and oil spill monitoring Distributed Cooperative Control: Emerging Applications is written for control engineers, robotic researchers, graduate students, and other professionals who are interested in dynamic systems and controls. Inhaltsverzeichnis Preface xii About the Companion Website xiv 1 Introduction 1 1.1 Motivation and Challenges 1 1.1.1 From Collective Behaviors to Cooperative Control 1 1.1.2 Challenges 2 1.2 Background and Related Work 4 1.2.1 Networked Communication Systems 4 1.2.2 Cooperating Autonomous Mobile Robots 5 1.2.3 Nanoscale Systems and Laser Synchronization 7 1.3 Overview of the Book 9 References 12 2 Distributed Consensus and Consensus Filters 19 2.1 Introduction and Literature Review 19 2.2 Preliminaries on Graph Theory 22 2.3 Distributed Consensus 26 2.3.1 The Continuous-Time Consensus Protocol 26 2.3.2 The Discrete-Time Consensus Protocol 28 2.4 Distributed Consensus Filter 29 2.4.1 PI Average Consensus Filter: Continuous-Time 30 2.4.2 PI Average Consensus Filter: Discrete-Time 30 References 31 Part I Distributed Consensus for Networked Communication Systems 37 3 Average Consensus for Quantized Communication 39 3.1 Introduction 39 3.2 Problem Formulation 41 3.2.1 Average Consensus Protocol with Quantization 41 3.2.2 Problem Statement 42 3.3 Weighting Matrix Design for Average Consensus with Quantization 42 3.3.1 State Transformation 43 3.3.2 Design for Fixed and Directed Graphs 44 3.3.3 Design for Switching and Directed Graphs 52 3.4 Simulations and Performance Evaluation 54 3.4.1 Fixed and Di...
