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Distributed Consensus in Multi-vehicle Cooperative Control
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任伟关于consensus的经典教材,对于consensus的基本理论和实际应用都做了详细的介绍
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Communications and Control Engineering
Series Editors
E.D. Sontag • M. Thoma • A. Isidori • J.H. van Schuppen
Published titles include:
Stability and Stabilization of Infinite Dimensional
Systems with Applications
Zheng-Hua Luo, Bao-Zhu Guo and Omer Morgul
Nonsmooth Mechanics (Second edition)
Bernard Brogliato
Nonlinear Control Systems II
Alberto Isidori
L
2
-Gain and Passivity Techniques in Nonlinear
Control
Arjan van der Schaft
Control of Linear Systems with Regulation and
Input Constraints
Ali Saberi, Anton A. Stoorvogel and Peddapullaiah
Sannuti
Robust and H
∞
Control
Ben M. Chen
Computer Controlled Systems
Efim N. Rosenwasser and Bernhard P. Lampe
Control of Complex and Uncertain Systems
Stanislav V. Emelyanov and Sergey K. Korovin
Robust Control Design Using H
∞
Methods
Ian R. Petersen, Valery A. Ugrinovski and Andrey
V. Savkin
Model Reduction for Control System Design
Goro Obinata and Brian D.O. Anderson
Control Theory for Linear Systems
Harry L. Trentelman, Anton Stoorvogel and Malo
Hautus
Functional Adaptive Control
Simon G. Fabri and Visakan Kadirkamanathan
Positive 1D and 2D Systems
Tadeusz Kaczorek
Identification and Control Using Volterra Models
Francis J. Doyle III, Ronald K. Pearson and
Bobatunde A. Ogunnaike
Non-linear Control for Underactuated Mechanical
Systems
Isabelle Fantoni and Rogelio Lozano
Robust Control (Second edition)
Jürgen Ackermann
Flow Control by Feedback
Ole Morten Aamo and Miroslav Krstić
Learning and Generalization (Second edition)
Mathukumalli Vidyasagar
Constrained Control and Estimation
Graham C. Goodwin, María M. Seron and José A.
De Doná
Randomized Algorithms for Analysis and Control
of Uncertain Systems
Roberto Tempo, Giuseppe Calafiore and Fabrizio
Dabbene
Switched Linear Systems
Zhendong Sun and Shuzhi S. Ge
Subspace Methods for System Identification
Tohru Katayama
Digital Control Systems
Ioan D. Landau and Gianluca Zito
Multivariable Computer-controlled Systems
Efim N. Rosenwasser and Bernhard P. Lampe
Dissipative Systems Analysis and Control
(2nd Edition)
Bernard Brogliato, Rogelio Lozano, Bernhard Maschke
and Olav Egeland
Algebraic Methods for Nonlinear Control Systems
Giuseppe Conte, Claude H. Moog and Anna M. Perdon
Polynomial and Rational Matrices
Tadeusz Kaczorek
Simulation-based Algorithms for Markov Decision
Processes
Hyeong Soo Chang, Michael C. Fu, Jiaqiao Hu and
Steven I. Marcus
Iterative Learning Control
Hyo-Sung Ahn, Kevin L. Moore and YangQuan Chen
Wei Ren and Randal W. Beard
Distributed
Consensus in
Multi-vehicle
Cooperative Control
Theory and Applications
123
ISBN 978-1-84800-014-8 e-ISBN 978-1-84800-015-5
DOI 10.1007/978-1-84800-015-5
Communications and Control Engineering Series ISSN 0178-5354
British Library Cataloguing in Publication Data
Ren, Wei
Distributed consensus in multi-vehicle cooperative control :
theory and applications. - (Communications and control engineering)
1. Digital control systems 2. Automatic control -
Mathematics 3. Algorithms
I. Title II. Beard, Randal W.
629.8'9'015181
ISBN-13: 9781848000148
Library of Congress Control Number: 2007934265
© 2008 Springer-Verlag London Limited
Apart from any fair dealing for the purposes of research or private study, or criticism or review, as
permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced,
stored or transmitted, in any form or by any means, with the prior permission in writing of the publishers,
or in the case of reprographic reproduction in accordance with the terms of licences issued by the
Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the
publishers.
The use of registered names, trademarks, etc. in this publication does not imply, even in the absence of a
specific statement, that such names are exempt from the relevant laws and regulations and therefore free
for general use.
The publisher makes no representation, express or implied, with regard to the accuracy of the information
contained in this book and cannot accept any legal responsibility or liability for any errors or omissions
that may be made.
Cover design:
Printed on acid-free paper
9 8 7 6 5 4 3 2 1
springer.com
Wei Ren, PhD
Department of Electrical and Computer
Engineering
Utah State University
Logan, UT 84322-4120
USA
Randal W. Beard, PhD
Department of Electrical and Computer
Engineering
Brigham Young University
Provo, UT 84602
USA
LE-T
E
X Jelonek, Schmidt & Vöckler GbR, Leipzig, Germany
This work is dedicated to
My wife, Fei Cheng, and
My parents, Hongyi Ren and Liying Wang
-WeiRen
My wife, Andrea
- Randal W. Beard
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